diff --git a/source/RobotAPI/libraries/armem/core/container_maps.h b/source/RobotAPI/libraries/armem/core/container_maps.h
index 9c5b26f524100af46f81c197c1fd567732f7e1b9..625c92bb02548c66b96c18e349bbe23acc0385ef 100644
--- a/source/RobotAPI/libraries/armem/core/container_maps.h
+++ b/source/RobotAPI/libraries/armem/core/container_maps.h
@@ -32,10 +32,18 @@ namespace armarx::armem
namespace detail
{
+ template <class KeyT, class ValueT>
+ struct MapRef
+ {
+ KeyT* key;
+ ValueT* value;
+ };
+
+
/**
- * @brief Get the key-value pair from the map for which the returned key
- * is the longest prefix of the given key among the keys in the map.
+ * @brief Get the entry in the map for which the returned key is the longest prefix
+ * of the given key among the keys in the map.
*
* `prefixFunc` is used to successively calculate the prefixes of the given key.
* It must be pure and return an empty optional when there is no shorter
@@ -44,35 +52,36 @@ namespace armarx::armem
* @param keyValMap the map that contains the key-value-pairs to search
* @param prefixFunc the function that returns the longest non-identical prefix of the key
* @param key the key to calculate the prefixes of
+ *
+ * @return The iterator pointing to the found entry, or `keyValMap.end()`.
*/
template <typename KeyT, typename ValueT>
- std::optional<std::pair<KeyT, ValueT>>
- getWithLongestPrefix(const std::map<KeyT, ValueT>& keyValMap,
- const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
- const KeyT& key)
+ typename std::map<KeyT, ValueT>::const_iterator
+ findEntryWithLongestPrefix(const std::map<KeyT, ValueT>& keyValMap,
+ const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
+ const KeyT& key)
{
std::optional<KeyT> curKey = key;
- std::optional<ValueT> value;
+
+ typename std::map<KeyT, ValueT>::const_iterator result = keyValMap.end();
do
{
auto iterator = keyValMap.find(curKey.value());
if (iterator != keyValMap.end())
{
- value = iterator->second;
+ result = iterator;
}
else
{
curKey = prefixFunc(curKey.value());
}
- } while (!value.has_value() && curKey.has_value());
-
- if (value.has_value())
- {
- return {{curKey.value(), value.value()}};
}
- return {};
+ while (result == keyValMap.end() and curKey.has_value());
+
+ return result;
}
+
/**
* @brief Accumulate all the values in a map for which the keys are prefixes of the given key.
*
@@ -91,26 +100,27 @@ namespace armarx::armem
template <typename KeyT, typename ValueT, typename AccumulateT>
AccumulateT
accumulateFromPrefixes(const std::map<KeyT, ValueT>& keyValMap,
- const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
- const std::function<void(AccumulateT&, ValueT&)> accumulateFunc,
+ const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
+ const std::function<void(AccumulateT&, const ValueT&)> accumulateFunc,
const KeyT& key)
{
std::optional<KeyT> curKey = key;
AccumulateT values;
do
{
- std::optional<std::pair<KeyT, ValueT>> nextPair =
- getWithLongestPrefix<KeyT, ValueT>(keyValMap, prefixFunc, curKey.value());
- if (nextPair.has_value())
+ const auto nextEntry =
+ findEntryWithLongestPrefix<KeyT, ValueT>(keyValMap, prefixFunc, curKey.value());
+ if (nextEntry != keyValMap.end())
{
- curKey = prefixFunc(nextPair.value().first);
- accumulateFunc(values, nextPair.value().second);
+ curKey = prefixFunc(nextEntry->first);
+ accumulateFunc(values, nextEntry->second);
}
else
{
curKey.reset();
}
- } while (curKey.has_value());
+ }
+ while (curKey.has_value());
return values;
}
@@ -129,13 +139,13 @@ namespace armarx::armem
template <typename KeyT, typename ValueT>
std::vector<ValueT>
accumulateFromPrefixes(const std::map<KeyT, ValueT>& keyValMap,
- const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
+ const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
const KeyT& key)
{
return accumulateFromPrefixes<KeyT, ValueT, std::vector<ValueT>>(
keyValMap,
prefixFunc,
- [](std::vector<ValueT>& values, ValueT& val) { values.push_back(val); },
+ [](std::vector<ValueT>& values, const ValueT& val) { values.push_back(val); },
key);
}
@@ -153,57 +163,70 @@ namespace armarx::armem
template <typename KeyT, typename ValueT>
std::vector<ValueT>
accumulateFromPrefixes(const std::map<KeyT, std::vector<ValueT>>& keyValMap,
- const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
+ const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
const KeyT& key)
{
return accumulateFromPrefixes<KeyT, std::vector<ValueT>, std::vector<ValueT>>(
keyValMap,
prefixFunc,
- [](std::vector<ValueT>& values, std::vector<ValueT>& val)
+ [](std::vector<ValueT>& values, const std::vector<ValueT>& val)
{ values.insert(values.end(), val.begin(), val.end()); },
key);
}
} // namespace detail
- std::optional<MemoryID> inline getMemoryIDParent(MemoryID& memID)
+
+ std::optional<MemoryID> inline getMemoryIDParent(const MemoryID& memID)
{
if (!memID.hasMemoryName())
{
- return {};
+ return std::nullopt;
}
MemoryID parent = memID.removeLeafItem();
return {parent};
}
+
/**
- * @see `getWithLongestPrefix`
+ * @brief Find the entry with the most specific key that contains the given ID,
+ * or `idMap.end()` if no key contains the ID.
+ *
+ * @see `detail::findEntryWithLongestPrefix()`
*/
template <typename ValueT>
- std::optional<std::pair<MemoryID, ValueT>>
- getWithMostSpecificContainer(const std::map<MemoryID, ValueT>& idMap, const MemoryID& key)
+ typename std::map<MemoryID, ValueT>::const_iterator
+ findMostSpecificEntryContainingID(const std::map<MemoryID, ValueT>& idMap, const MemoryID& id)
{
- return detail::getWithLongestPrefix<MemoryID, ValueT>(idMap, &getMemoryIDParent, key);
+ return detail::findEntryWithLongestPrefix<MemoryID, ValueT>(idMap, &getMemoryIDParent, id);
}
+
/**
- * @see `accumulateFromPrefixes`
+ * @brief Return all values of keys containing the given ID.
+ *
+ * @see `detail::accumulateFromPrefixes()`
*/
template <typename ValueT>
std::vector<ValueT>
- accumulateFromContainers(const std::map<MemoryID, ValueT>& idMap, const MemoryID& key)
+ accumulateEntriesContainingID(const std::map<MemoryID, ValueT>& idMap, const MemoryID& id)
{
- return detail::accumulateFromPrefixes<MemoryID, ValueT>(idMap, &getMemoryIDParent, key);
+ return detail::accumulateFromPrefixes<MemoryID, ValueT>(idMap, &getMemoryIDParent, id);
}
+
/**
- * @see `accumulateFromPrefixes`
+ * @brief Return all values of keys containing the given ID in a flattened vector.
+ *
+ * @see `detail::accumulateFromPrefixes()`
*/
template <typename ValueT>
std::vector<ValueT>
- accumulateFromContainers(const std::map<MemoryID, std::vector<ValueT>>& idMap,
- const MemoryID& key)
+ accumulateEntriesContainingID(const std::map<MemoryID, std::vector<ValueT>>& idMap,
+ const MemoryID& key)
{
return detail::accumulateFromPrefixes<MemoryID, ValueT>(idMap, &getMemoryIDParent, key);
}
+
+
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp
index eb75fb8406ebf179e551978067f99c5832342e45..4efc404325b61dbea0f68c7ec1bda5ecb051b8c6 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp
@@ -42,14 +42,13 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_prefixes)
BOOST_TEST_CONTEXT(VAROUT(idMap))
{
- BOOST_CHECK(not armem::getWithMostSpecificContainer(idMap, empty).has_value());
- BOOST_CHECK(not armem::getWithMostSpecificContainer(idMap, complete).has_value());
- BOOST_CHECK(armem::accumulateFromContainers(idMap, empty).empty());
- BOOST_CHECK(armem::accumulateFromContainers(idMap, complete).empty());
+ BOOST_CHECK(armem::findMostSpecificEntryContainingID(idMap, empty) == idMap.end());
+ BOOST_CHECK(armem::findMostSpecificEntryContainingID(idMap, complete) == idMap.end());
+ BOOST_CHECK(armem::accumulateEntriesContainingID(idMap, empty).empty());
+ BOOST_CHECK(armem::accumulateEntriesContainingID(idMap, complete).empty());
-
- BOOST_CHECK(armem::accumulateFromContainers(idListMap, empty).empty());
- BOOST_CHECK(armem::accumulateFromContainers(idListMap, complete).empty());
+ BOOST_CHECK(armem::accumulateEntriesContainingID(idListMap, empty).empty());
+ BOOST_CHECK(armem::accumulateEntriesContainingID(idListMap, complete).empty());
}
idMap[armem::MemoryID()] = 0;
@@ -60,21 +59,23 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_prefixes)
BOOST_TEST_CONTEXT(VAROUT(idMap))
{
- BOOST_CHECK(armem::getWithMostSpecificContainer(idMap, empty)
- .value_or(std::make_pair(armem::MemoryID("inv"), -1))
- .second == 0);
- BOOST_CHECK(armem::getWithMostSpecificContainer(idMap, complete.getCoreSegmentID())
- .value_or(std::make_pair(armem::MemoryID("inv"), -1))
- .second == 2);
- BOOST_CHECK(armem::getWithMostSpecificContainer(idMap, complete)
- .value_or(std::make_pair(armem::MemoryID("inv"), -1))
- .second == 3);
-
- BOOST_CHECK((armem::accumulateFromContainers(idMap, empty) == std::vector<int>{0}));
- BOOST_CHECK((armem::accumulateFromContainers(idMap, complete.getCoreSegmentID()) ==
+ auto it = armem::findMostSpecificEntryContainingID(idMap, empty);
+ BOOST_CHECK(it != idMap.end());
+ BOOST_CHECK_EQUAL(it->second, 0);
+
+ it = armem::findMostSpecificEntryContainingID(idMap, complete.getCoreSegmentID());
+ BOOST_CHECK(it != idMap.end());
+ BOOST_CHECK_EQUAL(it->second, 2);
+
+ it = armem::findMostSpecificEntryContainingID(idMap, complete);
+ BOOST_CHECK(it != idMap.end());
+ BOOST_CHECK_EQUAL(it->second, 3);
+
+ BOOST_CHECK((armem::accumulateEntriesContainingID(idMap, empty) == std::vector<int>{0}));
+ BOOST_CHECK((armem::accumulateEntriesContainingID(idMap, complete.getCoreSegmentID()) ==
std::vector<int>{2, 1, 0}));
BOOST_CHECK(
- (armem::accumulateFromContainers(idMap, complete) == std::vector<int>{3, 2, 1, 0}));
+ (armem::accumulateEntriesContainingID(idMap, complete) == std::vector<int>{3, 2, 1, 0}));
}
idListMap.emplace("mem", std::vector<int>{1, 2});
@@ -84,10 +85,10 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_prefixes)
BOOST_TEST_CONTEXT(VAROUT(idListMap))
{
- BOOST_CHECK((armem::accumulateFromContainers(idListMap, empty).empty()));
- BOOST_CHECK((armem::accumulateFromContainers(idListMap, complete.getCoreSegmentID()) ==
+ BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, empty).empty()));
+ BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, complete.getCoreSegmentID()) ==
std::vector<int>{3, 4, 5, 1, 2}));
- BOOST_CHECK((armem::accumulateFromContainers(idListMap, complete) ==
+ BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, complete) ==
std::vector<int>{6, 7, 8, 3, 4, 5, 1, 2}));
}
}