From 517c446cd95d1f57a8d7748380987c3dd0d7583f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 17 Dec 2021 16:11:51 +0100
Subject: [PATCH] Add instance.dataAs<AronDtoT>() and forEachInstanceAs(const
AronDtoT& fn)
---
.../armem/core/base/EntityInstanceBase.h | 9 ++++
.../armem/core/base/detail/iteration_mixins.h | 46 +++++++++++++++++++
2 files changed, 55 insertions(+)
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 8f7b8aafc..0b877909c 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -104,6 +104,15 @@ namespace armarx::armem::base
return _data;
}
+ /**
+ * @brief Get the data converted to a generated Aron DTO class.
+ */
+ template <class AronDtoT>
+ AronDtoT dataAs() const
+ {
+ return AronDtoT::FromAron(_data);
+ }
+
// Misc
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
index c923a857e..876d0d6d7 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
@@ -1,7 +1,27 @@
#pragma once
+#include <functional>
#include <type_traits>
+namespace
+{
+ template<typename F, typename Ret, typename A, typename... Rest>
+ A helper(Ret (F::*)(A, Rest...));
+
+ template<typename F, typename Ret, typename A, typename... Rest>
+ A helper(Ret (F::*)(A, Rest...) const);
+
+ // volatile or lvalue/rvalue *this not required for lambdas (phew)
+
+ template <typename FuncT>
+ struct first_argument
+ {
+ using type = decltype( helper(&FuncT::operator()) );
+ };
+
+ template <typename FuncT>
+ using first_argument_t = typename first_argument<FuncT>::type;
+}
namespace armarx::armem::base::detail
{
@@ -116,6 +136,32 @@ namespace armarx::armem::base::detail
return snapshot.forEachInstance(func);
});
}
+
+ /**
+ * Call `func` on the data of each instances converted to Aron DTO class.
+ *
+ * @code
+ * ().forEachEntityInstanceAs([](const my::arondto::CoolData& data)
+ * {
+ * ...
+ * });
+ * @endcode
+ *
+ * The Aron DTO type is deduced from the passed function's first argument.
+ *
+ * @param func Function like: `bool process(const my::arondto::CoolData& data)`
+ */
+ template <class AronDtoFunctionT>
+ bool forEachInstanceAs(AronDtoFunctionT&& func) const
+ {
+ return static_cast<const DerivedT*>(this)->forEachInstance(
+ [&func](const auto & instance) -> bool
+ {
+ using AronDtoT = typename std::remove_reference_t<first_argument_t<AronDtoFunctionT>>;
+ return func(instance.template dataAs<AronDtoT>());
+ });
+ }
+
};
--
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