17 #ifndef IGNITION_GAZEBO_COMPONENTS_COMPONENT_HH_ 18 #define IGNITION_GAZEBO_COMPONENTS_COMPONENT_HH_ 28 #include <ignition/gazebo/config.hh> 29 #include <ignition/gazebo/Export.hh> 38 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
61 template <
typename Stream,
typename DataType>
64 private:
template <
typename StreamArg,
typename DataTypeArg>
65 static auto Test(
int _test)
66 -> decltype(std::declval<StreamArg &>()
69 private:
template <
typename,
typename>
72 public:
static constexpr
bool value =
73 decltype(Test<Stream, DataType>(
true))::value;
85 template <
typename Stream,
typename DataType>
88 private:
template <
typename StreamArg,
typename DataTypeArg>
89 static auto Test(
int _test)
90 -> decltype(std::declval<StreamArg &>() >> std::declval<DataTypeArg &>(),
93 private:
template <
typename,
typename>
96 public:
static constexpr
bool value =
97 decltype(Test<Stream, DataType>(0))::value;
101 namespace serializers
107 template <
typename DataType>
112 const DataType &_data)
118 typename DataType::element_type>::value)
124 static bool warned{
false};
127 ignwarn <<
"Trying to serialize component with data type [" 128 <<
typeid(DataType).name() <<
"], which doesn't have " 129 <<
"`operator<<`. Component will not be serialized." 141 static bool warned{
false};
144 ignwarn <<
"Trying to serialize component with data type [" 145 <<
typeid(DataType).name() <<
"], which doesn't have " 146 <<
"`operator<<`. Component will not be serialized." 163 typename DataType::element_type>::value)
169 static bool warned{
false};
172 ignwarn <<
"Trying to deserialize component with data type [" 173 <<
typeid(DataType).name() <<
"], which doesn't have " 174 <<
"`operator>>`. Component will not be deserialized." 186 static bool warned{
false};
189 ignwarn <<
"Trying to deserialize component with data type [" 190 <<
typeid(DataType).name() <<
"], which doesn't have " 191 <<
"`operator>>`. Component will not be deserialized." 209 namespace serializers
247 static bool warned{
false};
250 ignwarn <<
"Trying to serialize component of type [" << this->TypeId()
251 <<
"], which hasn't implemented the `Serialize` function. " 252 <<
"Component will not be serialized." <<
std::endl;
266 static bool warned{
false};
269 ignwarn <<
"Trying to deserialize component of type [" 270 << this->TypeId() <<
"], which hasn't implemented the " 271 <<
"`Deserialize` function. Component will not be deserialized." 322 template <
typename DataType,
typename Identifier,
334 public:
explicit Component(DataType _data);
342 public:
bool operator==(
const Component &_component)
const;
347 public:
bool operator!=(
const Component &_component)
const;
356 public:
void Serialize(
std::ostream &_out)
const override;
366 public: DataType &Data();
373 public:
bool SetData(
const DataType &_data,
375 bool(
const DataType &,
const DataType &)> &_eql);
379 public:
const DataType &Data()
const;
382 private: DataType data;
401 template <
typename Identifier,
typename Serializer>
409 Serializer> &_component)
const;
416 Serializer> &_component)
const;
425 public:
void Serialize(
std::ostream &_out)
const override;
440 template <
typename DataType,
typename Identifier,
typename Serializer>
442 : data(std::move(_data))
447 template <
typename DataType,
typename Identifier,
typename Serializer>
454 template <
typename DataType,
typename Identifier,
typename Serializer>
456 const DataType &_data,
457 const std::function<
bool(
const DataType &,
const DataType &)> &_eql)
459 bool result = !_eql(_data, this->data);
465 template <
typename DataType,
typename Identifier,
typename Serializer>
472 template <
typename DataType,
typename Identifier,
typename Serializer>
476 return this->data == _component.
Data();
480 template <
typename DataType,
typename Identifier,
typename Serializer>
484 return this->data != _component.
Data();
488 template <
typename DataType,
typename Identifier,
typename Serializer>
492 Serializer::Serialize(_out, this->
Data());
496 template <
typename DataType,
typename Identifier,
typename Serializer>
500 Serializer::Deserialize(_in, this->
Data());
504 template <
typename DataType,
typename Identifier,
typename Serializer>
509 return std::make_unique<Component<DataType, Identifier, Serializer>>(
514 template <
typename DataType,
typename Identifier,
typename Serializer>
521 template <
typename Identifier,
typename Serializer>
529 template <
typename Identifier,
typename Serializer>
537 template <
typename Identifier,
typename Serializer>
541 return std::make_unique<Component<NoData, Identifier, Serializer>>();
545 template <
typename Identifier,
typename Serializer>
552 template <
typename Identifier,
typename Serializer>
556 Serializer::Serialize(_out);
560 template <
typename Identifier,
typename Serializer>
564 Serializer::Deserialize(_in);
Type trait that determines if a operator<< is defined on Stream and DataType, i.e, it checks if the function Stream& operator<<(Stream&, const DataType&) exists. Example:
Definition: Component.hh:62
Default serializer template to call stream operators only on types that support them. If the stream operator is not available, a warning message is printed.
Definition: Component.hh:108
bool operator!=(const Component &_component) const
Inequality operator.
Definition: Component.hh:481
static ComponentTypeId typeId
Unique ID for this component type. This is set through the Factory registration.
Definition: Component.hh:386
bool operator==(const Component &_component) const
Equality operator.
Definition: Component.hh:473
std::add_lvalue_reference< void > NoData
Convenient type to be used by components that don't wrap any data. I.e. they act as tags and their pr...
Definition: Component.hh:206
void Serialize(std::ostream &_out) const override
Fills a stream with a serialized version of the component. By default, it will leave the stream empty...
Definition: Component.hh:489
ComponentTypeId TypeId() const override
Returns the unique ID for the component's type. The ID is derived from the name that is manually chos...
Definition: Component.hh:515
virtual void Serialize(std::ostream &_out) const
Fills a stream with a serialized version of the component. By default, it will leave the stream empty...
Definition: Component.hh:243
Specialization for components that don't wrap any data. This class to be used to create simple compon...
Definition: Component.hh:402
std::unique_ptr< BaseComponent > Clone() override
Clone the component.
Definition: Component.hh:506
static std::string typeName
Unique name for this component type. This is set through the Factory registration.
Definition: Component.hh:390
static std::ostream & Serialize(std::ostream &_out)
Definition: Component.hh:214
uint64_t ComponentTypeId
A unique identifier for a component type. A component type must be derived from components::BaseCompo...
Definition: Types.hh:90
DataType Type
Alias for DataType.
Definition: Component.hh:327
void Deserialize(std::istream &_in) override
Fills a component based on a stream with a serialized data. By default, it will do nothing...
Definition: Component.hh:497
static std::ostream & Serialize(std::ostream &_out, const DataType &_data)
Serialization.
Definition: Component.hh:111
static std::istream & Deserialize(std::istream &_in, DataType &_data)
Deserialization.
Definition: Component.hh:157
Helper trait to determine if a type is shared_ptr or not.
Definition: Component.hh:43
A component type that wraps any data type. The intention is for this class to be used to create simpl...
Definition: Component.hh:324
static std::istream & Deserialize(std::istream &_in)
Definition: Component.hh:220
This library is part of the Ignition Robotics project.
static std::string typeName
Unique name for this component type. This is set through the Factory registration.
Definition: Component.hh:436
DataType & Data()
Get the mutable component data. This function will be deprecated in Gazebo 3, replaced by const DataT...
Definition: Component.hh:448
bool SetData(const DataType &_data, const std::function< bool(const DataType &, const DataType &)> &_eql)
Set the data of this component.
Definition: Component.hh:455
Base class for all components.
Definition: Component.hh:230
virtual void Deserialize(std::istream &_in)
Fills a component based on a stream with a serialized data. By default, it will do nothing...
Definition: Component.hh:262
Type trait that determines if a operator>> is defined on Stream and DataType, i.e, it checks if the function Stream& operator>>(Stream&, DataType&) exists. Example:
Definition: Component.hh:86