StateConverter.cpp

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/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#include "StateConverter.h"

#include <rsb/converter/SerializationException.h>
#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/cbse/ComponentState.pb.h>

using namespace std;
using namespace nemo;

namespace cca {

ComponentStateConverter::ComponentStateConverter() :
                rsb::converter::Converter<string>(
                        rsc::runtime::typeName<rst::cbse::ComponentState>(),
                        RSB_TYPE_TAG(cca::ComponentState)), converter() {
    converter = boost::shared_ptr<rsb::converter::Converter<string> >(
            new rsb::converter::ProtocolBufferConverter<
                    rst::cbse::ComponentState>);
}

ComponentStateConverter::~ComponentStateConverter() {
}

string ComponentStateConverter::getWireSchema() const {
    return converter->getWireSchema();
}

string ComponentStateConverter::serialize(const rsb::AnnotatedData &data,
        string &wire) {

    // Cast to original domain type
    boost::shared_ptr<cca::ComponentState> domain = boost::static_pointer_cast<
            cca::ComponentState>(data.second);

    // Fill protocol buffer object
    rst::cbse::ComponentState proto;

    //    1. reserve()
    //    2. std::copy(begin, begin+n) // oder memcpy
    if (*domain == *ComponentState::PAUSED()) {
        proto.set_state(rst::cbse::ComponentState::PAUSED);
    } else if (*domain == *ComponentState::EXECUTION()) {
        proto.set_state(rst::cbse::ComponentState::EXECUTION);
    } else if (*domain == *ComponentState::ONLINELEARNING()) {
        proto.set_state(rst::cbse::ComponentState::ONLINELEARNING);
    } else if (*domain == *ComponentState::OFFLINELEARNING()) {
        proto.set_state(rst::cbse::ComponentState::OFFLINELEARNING);
    } else if (*domain == *ComponentState::RESET()) {
        proto.set_state(rst::cbse::ComponentState::RESET);
    } else if (*domain == *ComponentState::LOADED()) {
        proto.set_state(rst::cbse::ComponentState::LOADED);
    } else if (*domain == *ComponentState::PERSISTED()) {
        proto.set_state(rst::cbse::ComponentState::PERSISTED);
    } else {
        proto.set_state(rst::cbse::ComponentState::OFF);
    }

    // Use embedded ProtoBuf converter for serialization to wire
    return converter->serialize(
            make_pair(rsc::runtime::typeName<rst::cbse::ComponentState>(),
                    boost::shared_ptr<void>(&proto, rsc::misc::NullDeleter())),
            wire);
}

rsb::AnnotatedData ComponentStateConverter::deserialize(
        const std::string &wireType, const std::string &wire) {

    // Deserialize and cast to specific ProtoBuf type
    boost::shared_ptr<rst::cbse::ComponentState> proto =
            boost::static_pointer_cast<rst::cbse::ComponentState>(
                    converter->deserialize(wireType, wire).second);

    // Read domain data from ProtoBuf
    ComponentStatePtr domain;
    switch (proto->state()) {
    case rst::cbse::ComponentState::EXECUTION:
        domain = ComponentState::EXECUTION();
        break;
    case rst::cbse::ComponentState::LOADED:
        domain = ComponentState::LOADED();
        break;
    case rst::cbse::ComponentState::OFFLINELEARNING:
        domain = ComponentState::OFFLINELEARNING();
        break;
    case rst::cbse::ComponentState::ONLINELEARNING:
        domain = ComponentState::ONLINELEARNING();
        break;
    case rst::cbse::ComponentState::PAUSED:
        domain = ComponentState::PAUSED();
        break;
    case rst::cbse::ComponentState::PERSISTED:
        domain = ComponentState::PERSISTED();
        break;
    case rst::cbse::ComponentState::RESET:
        domain = ComponentState::RESET();
        break;
    case rst::cbse::ComponentState::ON:
        domain = ComponentState::EXECUTION();
        break;
    case rst::cbse::ComponentState::OFF:
        domain = ComponentState::STOPPED();
        break;
    default:
        domain = ComponentState::STOPPED();
        break;
    }

    return rsb::AnnotatedData(getDataType(), domain);

}

}