factory.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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.
//
// 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.

#include "factory.h"

#include "creators.h"
#include "parameter.h"
#include "cache.h"
#include "optimizable_graph.h"
#include "g2o/stuff/color_macros.h"

#include <iostream>
#include <typeinfo>
#include <cassert>

using namespace std;

namespace g2o {

Factory* Factory::factoryInstance = 0;

Factory::Factory()
{
}

Factory::~Factory()
{
# ifdef G2O_DEBUG_FACTORY
  cerr << "# Factory destroying " << (void*)this << endl;
# endif
  for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) {
    delete it->second->creator;
  }
  _creator.clear();
  _tagLookup.clear();
}

Factory* Factory::instance()
{
  if (factoryInstance == 0) {
    factoryInstance = new Factory;
#  ifdef G2O_DEBUG_FACTORY
    cerr << "# Factory allocated " << (void*)factoryInstance << endl;
#  endif
  }

  return factoryInstance;
}

void Factory::registerType(const std::string& tag, AbstractHyperGraphElementCreator* c)
{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    cerr << "FACTORY WARNING: Overwriting Vertex tag " << tag << endl;
    assert(0);
  }
  TagLookup::const_iterator tagIt = _tagLookup.find(c->name());
  if (tagIt != _tagLookup.end()) {
    cerr << "FACTORY WARNING: Registering same class for two tags " << c->name() << endl;
    assert(0);
  }

  CreatorInformation* ci = new CreatorInformation();
  ci->creator = c;

#ifdef G2O_DEBUG_FACTORY
  cerr << "# Factory " << (void*)this << " constructing type " << tag << " ";
#endif
  // construct an element once to figure out its type
  HyperGraph::HyperGraphElement* element = c->construct();
  ci->elementTypeBit = element->elementType();

#ifdef G2O_DEBUG_FACTORY
  cerr << "done." << endl;
  cerr << "# Factory " << (void*)this << " registering " << tag;
  cerr << " " << (void*) c << " ";
  switch (element->elementType()) {
    case HyperGraph::HGET_VERTEX:
      cerr << " -> Vertex";
      break;
    case HyperGraph::HGET_EDGE:
      cerr << " -> Edge";
      break;
    case HyperGraph::HGET_PARAMETER:
      cerr << " -> Parameter";
      break;
    case HyperGraph::HGET_CACHE:
      cerr << " -> Cache";
      break;
    case HyperGraph::HGET_DATA:
      cerr << " -> Data";
      break;
    default:
      assert(0 && "Unknown element type occured, fix elementTypes");
      break;
  }
  cerr << endl;
#endif

  _creator[tag] = ci;
  _tagLookup[c->name()] = tag;
  delete element;
}

  void Factory::unregisterType(const std::string& tag)
  {
    // Look for the tag
    CreatorMap::iterator tagPosition = _creator.find(tag);

    if (tagPosition != _creator.end()) {

      AbstractHyperGraphElementCreator* c = tagPosition->second->creator;

      // If we found it, remove the creator from the tag lookup map
      TagLookup::iterator classPosition = _tagLookup.find(c->name());
      if (classPosition != _tagLookup.end())
        {
          _tagLookup.erase(classPosition);
        }
      _creator.erase(tagPosition);
    }
  }

HyperGraph::HyperGraphElement* Factory::construct(const std::string& tag) const
{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    //cerr << "tag " << tag << " -> " << (void*) foundIt->second->creator << " " << foundIt->second->creator->name() << endl;
    return foundIt->second->creator->construct();
  }
  return 0;
}

const std::string& Factory::tag(const HyperGraph::HyperGraphElement* e) const
{
  static std::string emptyStr("");
  TagLookup::const_iterator foundIt = _tagLookup.find(typeid(*e).name());
  if (foundIt != _tagLookup.end())
    return foundIt->second;
  return emptyStr;
}

void Factory::fillKnownTypes(std::vector<std::string>& types) const
{
  types.clear();
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it)
    types.push_back(it->first);
}

bool Factory::knowsTag(const std::string& tag, int* elementType) const
{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt == _creator.end()) {
    if (elementType)
      *elementType = -1;
    return false;
  }
  if (elementType)
    *elementType = foundIt->second->elementTypeBit;
  return true;
}

void Factory::destroy()
{
  delete factoryInstance;
  factoryInstance = 0;
}

void Factory::printRegisteredTypes(std::ostream& os, bool comment) const
{
  if (comment)
    os << "# ";
  os << "types:" << endl;
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) {
    if (comment)
      os << "#";
    cerr << "\t" << it->first << endl;
  }
}

HyperGraph::HyperGraphElement* Factory::construct(const std::string& tag, const HyperGraph::GraphElemBitset& elemsToConstruct) const
{
  if (elemsToConstruct.none()) {
    return construct(tag);
  }
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end() && foundIt->second->elementTypeBit >= 0 && elemsToConstruct.test(foundIt->second->elementTypeBit)) {
    return foundIt->second->creator->construct();
  }
  return 0;
}

} // end namespace