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variant.hpp
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variant.hpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright 2016-2017 Davide Faconti
* 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 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 LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
* *******************************************************************/
#ifndef VARIANT_H
#define VARIANT_H
#include <string.h>
#include <type_traits>
#include <limits>
#include <string_view>
#include "rosx_introspection/builtin_types.hpp"
#include "rosx_introspection/details/exceptions.hpp"
#include "rosx_introspection/details/conversion_impl.hpp"
namespace RosMsgParser
{
class Variant
{
public:
Variant()
{
_type = OTHER;
_storage.raw_string = nullptr;
}
~Variant();
Variant(const Variant& other) : _type(OTHER)
{
if (other._type == STRING)
{
const char* raw = other._storage.raw_string;
const uint32_t size = *(reinterpret_cast<const uint32_t*>(&raw[0]));
const char* data = (&raw[4]);
assign(data, size);
}
else
{
_type = other._type;
_storage.raw_data = other._storage.raw_data;
}
}
Variant(Variant&& other) : _type(OTHER)
{
if (other._type == STRING)
{
_storage.raw_string = nullptr;
std::swap(_storage.raw_string, other._storage.raw_string);
std::swap(_type, other._type);
}
else
{
_type = other._type;
_storage.raw_data = other._storage.raw_data;
}
}
Variant& operator=(const Variant& other)
{
if (other._type == STRING)
{
const char* raw = other._storage.raw_string;
const uint32_t size = *(reinterpret_cast<const uint32_t*>(&raw[0]));
const char* data = (&raw[4]);
assign(data, size);
}
else
{
_type = other._type;
_storage.raw_data = other._storage.raw_data;
}
return *this;
}
template <typename T>
Variant(const T& value);
// specialization for raw string
Variant(const char* buffer, size_t length);
BuiltinType getTypeID() const;
template <typename T>
T convert() const;
template <typename T>
T extract() const;
template <typename T>
void assign(const T& value);
void assign(const char* buffer, size_t length);
// Direct access to raw data. Undefined behavior if this variant holds a STRING
const uint8_t* getRawStorage() const;
private:
union
{
std::array<uint8_t, 8> raw_data;
char* raw_string;
} _storage;
void clearStringIfNecessary();
BuiltinType _type;
};
//----------------------- Implementation ----------------------------------------------
template <typename T>
inline Variant::Variant(const T& value) : _type(OTHER)
{
static_assert(std::numeric_limits<T>::is_specialized ||
std::is_same<T, RosMsgParser::Time>::value ||
std::is_same<T, std::string_view>::value ||
std::is_same<T, std::string>::value,
"not a valid type");
_storage.raw_string = (nullptr);
assign(value);
}
inline Variant::Variant(const char* buffer, size_t length) : _type(OTHER)
{
_storage.raw_string = (nullptr);
assign(buffer, length);
}
inline Variant::~Variant()
{
clearStringIfNecessary();
}
//-------------------------------------
inline BuiltinType Variant::getTypeID() const
{
return _type;
}
inline const uint8_t* Variant::getRawStorage() const
{
return _storage.raw_data.data();
}
template <typename T>
inline T Variant::extract() const
{
static_assert(std::numeric_limits<T>::is_specialized ||
std::is_same<T, RosMsgParser::Time>::value,
"not a valid type");
if (_type != RosMsgParser::getType<T>())
{
throw TypeException("Variant::extract -> wrong type");
}
return *reinterpret_cast<const T*>(&_storage.raw_data[0]);
}
template <>
inline std::string_view Variant::extract() const
{
if (_type != STRING)
{
throw TypeException("Variant::extract -> wrong type");
}
const uint32_t size = *(reinterpret_cast<const uint32_t*>(&_storage.raw_string[0]));
char* data = static_cast<char*>(&_storage.raw_string[4]);
return std::string_view(data, size);
}
template <>
inline std::string Variant::extract() const
{
if (_type != STRING)
{
throw TypeException("Variant::extract -> wrong type");
}
const uint32_t size = *(reinterpret_cast<const uint32_t*>(&_storage.raw_string[0]));
char* data = static_cast<char*>(&_storage.raw_string[4]);
return std::string(data, size);
}
//-------------------------------------
template <typename T>
inline void Variant::assign(const T& value)
{
static_assert(std::numeric_limits<T>::is_specialized ||
std::is_same<T, RosMsgParser::Time>::value,
"not a valid type");
clearStringIfNecessary();
_type = RosMsgParser::getType<T>();
*reinterpret_cast<T*>(&_storage.raw_data[0]) = value;
}
inline void Variant::clearStringIfNecessary()
{
if (_storage.raw_string && _type == STRING)
{
delete[] _storage.raw_string;
_storage.raw_string = nullptr;
}
}
inline void Variant::assign(const char* buffer, size_t size)
{
clearStringIfNecessary();
_type = STRING;
_storage.raw_string = new char[size + 5];
*reinterpret_cast<uint32_t*>(&_storage.raw_string[0]) = size;
memcpy(&_storage.raw_string[4], buffer, size);
_storage.raw_string[size + 4] = '\0';
}
template <>
inline void Variant::assign(const std::string_view& value)
{
assign(value.data(), value.size());
}
template <>
inline void Variant::assign(const std::string& value)
{
assign(value.data(), value.size());
}
//-------------------------------------
template <typename DST>
inline DST Variant::convert() const
{
static_assert(std::numeric_limits<DST>::is_specialized ||
std::is_same<DST, RosMsgParser::Time>::value,
"not a valid type");
using namespace RosMsgParser::details;
DST target;
const auto& raw_data = &_storage.raw_data[0];
//----------
switch (_type)
{
case CHAR:
case INT8:
convert_impl<int8_t, DST>(*reinterpret_cast<const int8_t*>(raw_data), target);
break;
case INT16:
convert_impl<int16_t, DST>(*reinterpret_cast<const int16_t*>(raw_data), target);
break;
case INT32:
convert_impl<int32_t, DST>(*reinterpret_cast<const int32_t*>(raw_data), target);
break;
case INT64:
convert_impl<int64_t, DST>(*reinterpret_cast<const int64_t*>(raw_data), target);
break;
case BOOL:
case BYTE:
case UINT8:
convert_impl<uint8_t, DST>(*reinterpret_cast<const uint8_t*>(raw_data), target);
break;
case UINT16:
convert_impl<uint16_t, DST>(*reinterpret_cast<const uint16_t*>(raw_data), target);
break;
case UINT32:
convert_impl<uint32_t, DST>(*reinterpret_cast<const uint32_t*>(raw_data), target);
break;
case UINT64:
convert_impl<uint64_t, DST>(*reinterpret_cast<const uint64_t*>(raw_data), target);
break;
case FLOAT32:
convert_impl<float, DST>(*reinterpret_cast<const float*>(raw_data), target);
break;
case FLOAT64:
convert_impl<double, DST>(*reinterpret_cast<const double*>(raw_data), target);
break;
case STRING: {
throw TypeException("String will not be converted to a numerical value implicitly");
}
break;
case DURATION:
case TIME: {
throw TypeException("ros::Duration and ros::Time can be converted only to double "
"(will be seconds)");
}
break;
default:
throw TypeException("Variant::convert -> cannot convert type" +
std::to_string(_type));
break;
}
return target;
}
template <>
inline double Variant::convert() const
{
using namespace RosMsgParser::details;
double target = 0;
const auto& raw_data = &_storage.raw_data[0];
//----------
switch (_type)
{
case CHAR:
case INT8:
convert_impl<int8_t, double>(*reinterpret_cast<const int8_t*>(raw_data), target);
break;
case INT16:
convert_impl<int16_t, double>(*reinterpret_cast<const int16_t*>(raw_data), target);
break;
case INT32:
convert_impl<int32_t, double>(*reinterpret_cast<const int32_t*>(raw_data), target);
break;
case INT64:
convert_impl<int64_t, double>(*reinterpret_cast<const int64_t*>(raw_data), target);
break;
case BOOL:
case BYTE:
case UINT8:
convert_impl<uint8_t, double>(*reinterpret_cast<const uint8_t*>(raw_data), target);
break;
case UINT16:
convert_impl<uint16_t, double>(*reinterpret_cast<const uint16_t*>(raw_data),
target);
break;
case UINT32:
convert_impl<uint32_t, double>(*reinterpret_cast<const uint32_t*>(raw_data),
target);
break;
case UINT64:
convert_impl<uint64_t, double>(*reinterpret_cast<const uint64_t*>(raw_data),
target);
break;
case FLOAT32:
convert_impl<float, double>(*reinterpret_cast<const float*>(raw_data), target);
break;
case FLOAT64:
return extract<double>();
case STRING: {
throw TypeException("String will not be converted to a double implicitly");
}
break;
case DURATION:
case TIME: {
RosMsgParser::Time tmp = extract<RosMsgParser::Time>();
target = tmp.toSec();
}
break;
default:
throw TypeException("Variant::convert -> cannot convert type" +
std::to_string(_type));
}
return target;
}
template <>
inline RosMsgParser::Time Variant::convert() const
{
if (_type != TIME)
{
throw TypeException("Variant::convert -> cannot convert RosMsgParser::Time");
}
return extract<RosMsgParser::Time>();
}
template <>
inline std::string Variant::convert() const
{
if (_type != STRING)
{
throw TypeException("Variant::convert -> cannot convert to std::string");
}
return extract<std::string>();
}
} // namespace RosMsgParser
#endif // VARIANT_H