Aspect.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   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.
 *   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 HOLDER 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 DART_COMMON_ASPECT_HPP_
#define DART_COMMON_ASPECT_HPP_

#include <string>

#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Cloneable.hpp"
#include "dart/common/detail/NoOp.hpp"

namespace dart {
namespace common {

class Composite;

class Aspect
{
public:
  friend class Composite;

  class State : public Cloneable<State>
  {
  };

  template <class Mixin>
  using MakeState = MakeCloneable<State, Mixin>;

  class Properties : public Cloneable<Properties>
  {
  };

  template <class Mixin>
  using MakeProperties = MakeCloneable<Properties, Mixin>;

  virtual ~Aspect() = default;

  virtual std::unique_ptr<Aspect> cloneAspect() const = 0;

  virtual void setAspectState(const State& otherState);

  virtual const State* getAspectState() const;

  virtual void setAspectProperties(const Properties& someProperties);

  virtual const Properties* getAspectProperties() const;

protected:
  virtual void setComposite(Composite* newComposite);

  virtual void loseComposite(Composite* oldComposite);
};

//==============================================================================
template <class CompositeType>
class CompositeTrackingAspect : public Aspect
{
public:
  CompositeTrackingAspect();

  CompositeType* getComposite();

  const CompositeType* getComposite() const;

  bool hasComposite() const;

protected:
  void setComposite(Composite* newComposite) override;

  void loseComposite(Composite* oldComposite) override;

  CompositeType* mComposite;
};

} // namespace common
} // namespace dart

//==============================================================================
#define DART_COMMON_ASPECT_PROPERTY_CONSTRUCTOR(                               \
    ClassName, UpdatePropertiesMacro)                                          \
  ClassName(const ClassName&) = delete;                                        \
  inline ClassName(const PropertiesData& properties = PropertiesData())        \
    : AspectWithVersionedProperties<                                           \
          Base,                                                                \
          Derived,                                                             \
          PropertiesData,                                                      \
          CompositeType,                                                       \
          UpdatePropertiesMacro>(properties)                                   \
  {                                                                            \
  }

//==============================================================================
#define DART_COMMON_ASPECT_STATE_PROPERTY_CONSTRUCTORS(ClassName)              \
  ClassName(const ClassName&) = delete;                                        \
  inline ClassName(                                                            \
      const StateData& state = StateData(),                                    \
      const PropertiesData& properties = PropertiesData())                     \
    : AspectImpl(state, properties)                                            \
  {                                                                            \
  }                                                                            \
  inline ClassName(                                                            \
      const PropertiesData& properties, const StateData state = StateData())   \
    : AspectImpl(properties, state)                                            \
  {                                                                            \
  }

//==============================================================================
#define DART_COMMON_SET_ASPECT_PROPERTY_CUSTOM(Type, Name, Update)             \
  inline void set##Name(const Type& value)                                     \
  {                                                                            \
    mProperties.m##Name = value;                                               \
    Update();                                                                  \
  }

//==============================================================================
#define DART_COMMON_SET_ASPECT_PROPERTY(Type, Name)                            \
  DART_COMMON_SET_ASPECT_PROPERTY_CUSTOM(Type, Name, notifyPropertiesUpdated)

//==============================================================================
#define DART_COMMON_GET_ASPECT_PROPERTY(Type, Name)                            \
  inline const Type& get##Name() const                                         \
  {                                                                            \
    return mProperties.m##Name;                                                \
  }

//==============================================================================
#define DART_COMMON_SET_GET_ASPECT_PROPERTY(Type, Name)                        \
  DART_COMMON_SET_ASPECT_PROPERTY(Type, Name)                                  \
  DART_COMMON_GET_ASPECT_PROPERTY(Type, Name)

#include "dart/common/detail/Aspect.hpp"

#endif // DART_COMMON_ASPECT_HPP_