Transform.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/elements.h>
#include <mc_rtc/gui/types.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT, typename SetT = std::nullptr_t>
struct TransformImpl : public CommonInputImpl<GetT, SetT>
{
  static constexpr auto type = Elements::Transform;
 
  TransformImpl(const std::string & name, GetT get_fn, SetT set_fn = nullptr)
  : CommonInputImpl<GetT, SetT>(name, get_fn, set_fn)
  {
    static_assert(details::CheckReturnType<GetT, sva::PTransformd>::value,
                  "TransformImpl getter should return an sva::PTransformd");
  }
 
  constexpr static size_t write_size() { return CommonInputImpl<GetT, SetT>::write_size() + 1; }
 
  void write(mc_rtc::MessagePackBuilder & builder)
  {
    CommonInputImpl<GetT, SetT>::write(builder);
    // True for read-only
    builder.write(std::is_same_v<SetT, std::nullptr_t>);
  }
 
  TransformImpl() {}
};
 
} // namespace details
 
template<typename GetT, std::enable_if_t<std::is_invocable_v<GetT>, int> = 0>
auto Transform(const std::string & name, GetT get_fn)
{
  return details::TransformImpl(name, get_fn);
}
 
template<typename GetT, typename SetT>
auto Transform(const std::string & name, GetT get_fn, SetT set_fn)
{
  return details::TransformImpl(name, get_fn, set_fn);
}
 
template<typename T>
auto TransformRO(const std::string & name, T && value)
{
  return Transform(name, details::read(std::forward<T>(value)));
}
 
template<typename T, std::enable_if_t<!std::is_invocable_v<T>, int> = 0>
auto Transform(const std::string & name, T & value)
{
  return Transform(name, details::read(value), details::write(value));
}
 
} // namespace mc_rtc::gui