[Robotflow-cvs] RobotFlow/MARIE/src newMarieDataList.cpp,NONE,1.1 extractMarieDataList.cpp,NONE,1.1

[clement r. <kl...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29975

Added Files:
	newMarieDataList.cpp extractMarieDataList.cpp 
Log Message:
initial add


--- NEW FILE: newMarieDataList.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/
#include "MarieObject.h"
#include "DataList.h"
#include "BufferedNode.h"
#include <sstream>
#include <string>
#include "Vector.h"

using namespace FD;

namespace marie
{
   class newMarieDataList;
   
   DECLARE_NODE(newMarieDataList)
   /*Node
   *
   * @name newMarieDataList
   * @category RobotFlow:MARIE:DATA
   * @description Create an object of type MarieObject containing a DataList data
   *
   * @input_name VECTOR
   * @input_type Vector<ObjectRef>
   * @input_description ObjectRef Vector conataining marie data to include in the new list
   *
   * @output_name DATA_LIST
   * @output_description Output MarieObject containing a DataList data
   * @output_type MarieObject
   *
   END*/
   
   using namespace std;
   
   class newMarieDataList : public BufferedNode {
      
   private:
      
      int m_inputID;
      int m_outputID;
      
   public:
      
      newMarieDataList(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params)
      {
         //inputs
         m_inputID = addInput("VECTOR");
         
         //outputs
         m_outputID = addOutput("DATA_LIST");
      }
      
      void calculate(int output_id, int count, Buffer &out)
      {
         ObjectRef InputValue = getInput(m_inputID,count);
         if (!InputValue->isNil())
         {
            RCPtr<Vector<ObjectRef> > vectorObject = InputValue;
            
            //create new Marie DataList
            DataList *dList = new DataList();
            
            //get all the element of the vector
            std::vector<ObjectRef>::const_iterator it = vectorObject->begin();
            for(; it != vectorObject->end(); it++)
            {
               try
               {
                  RCPtr<MarieObject> marieObject = *it;
                  dList->insertBack(marieObject->getData());
               }
               catch(BaseException* e)
               {
                  throw e->add(new GeneralException("newMarieDataList : invalid data type in input vector : not a MarieObject.", __FILE__, __LINE__));
               }
            }
            out[count] = ObjectRef(new MarieObject(dList));
         }
         else
         {
            out[count] = nilObject;
         }
      }
   };//class newMarieDataList
}//namespace marie

--- NEW FILE: extractMarieDataList.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / Clement Raievsky
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/

#include <sstream>
#include <string>
#include "BufferedNode.h"
#include "MarieObject.h"
#include "DataList.h"
#include "Vector.h"


using namespace FD;

namespace marie
{
   //forward declaration
   class extractMarieDataList;
   
   DECLARE_NODE(extractMarieDataList)
   /*Node
   *
   * @name extractMarieDataList
   * @category RobotFlow:MARIE:DATA
   * @description Extract data in the FlowDesigner format from MarieObject
   *
   * @input_name DATA_LIST
   * @input_type MarieObject
   * @input_description input MarieObject object containing a DataList
   *
   * @output_name VECTOR
   * @output_description  Vector object equivalent to MARIE DataList. WARNING : order in MARIE DataList is not guaranted.
   The Flowdesigner object is a vector of composite which are of the form : <X <double>, Y <double>, THETA <double>, ID <int>>
   * @output_type Vector<ObjectRef>
   *
   END*/
   
   using namespace std;
   
   class extractMarieDataList : public BufferedNode
   {
      
   private:
      //intputs
      int m_dataListID;
      
      //outputs
      int m_vectorID;
      
   public:
      
      extractMarieDataList(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params)
      {
         //inputs
         m_dataListID = addInput("DATA_LIST");
         
         //outputs
         m_vectorID = addOutput("VECTOR");
      }
      
      void calculate(int output_id, int count, Buffer &out)
      {
         try
         {
            //get input
            RCPtr<MarieObject> dataPtr = getInput(m_dataListID,count);
            DataList *dataList = dynamic_cast<DataList*>(dataPtr->getData());
            if (dataList != NULL)
            {
               const std::list<DataAbstract*> myList = dataList->getList();
               
               Vector<ObjectRef> *myVector = new Vector<ObjectRef>();
               
               std::list<DataAbstract*>::const_iterator iter = myList.begin();
               for (;iter != myList.end(); iter++) 
               {
                  myVector->push_back(ObjectRef(new MarieObject((*iter)->clone())));    
               }
               
               //output vector
               out[count] = ObjectRef(myVector);
            }
            else
            {
               std::cerr << "FD::extractMarieDataList -> MarieObject received data not of DataList type" << std::endl;
               out[count] = nilObject;
            }
         }
         catch (BaseException *e)
         {
            e->print(cerr);
            e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
            throw e;
         }
      }
   };//class extractMarieDataList
}//namespace marie