factory.h

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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.
 
#ifndef G2O_FACTORY_H
#define G2O_FACTORY_H
 
#include <iostream>
#include <map>
#include <memory>
#include <string>
 
#include "creators.h"
#include "g2o/config.h"
#include "g2o/stuff/misc.h"  // ForceLinker for the macros
#include "hyper_graph.h"
 
// define to get some verbose output
// #define G2O_DEBUG_FACTORY
 
namespace g2o {

class G2O_CORE_API Factory {
 public:
  static Factory* instance();
 
  Factory(Factory const&) = delete;
  Factory& operator=(Factory const&) = delete;

  static void destroy();

  void registerType(const std::string& tag,
                    const std::shared_ptr<AbstractHyperGraphElementCreator>& c);

  void unregisterType(const std::string& tag);

  HyperGraph::HyperGraphElement* construct(const std::string& tag) const;

  HyperGraph::HyperGraphElement* construct(
      const std::string& tag,
      const HyperGraph::GraphElemBitset& elemsToConstruct) const;

  bool knowsTag(const std::string& tag, int* elementType = 0) const;

  const std::string& tag(const HyperGraph::HyperGraphElement* v) const;

  void fillKnownTypes(std::vector<std::string>& types) const;

  void printRegisteredTypes(std::ostream& os, bool comment = false) const;
 
 protected:
  class CreatorInformation {
   public:
    std::shared_ptr<AbstractHyperGraphElementCreator> creator;
    int elementTypeBit = -1;
  };
 
  typedef std::map<std::string, std::unique_ptr<CreatorInformation>> CreatorMap;
  typedef std::map<std::string, std::string> TagLookup;
  Factory() = default;
 
  CreatorMap _creator;   
  TagLookup _tagLookup;  
 
 private:
  static std::unique_ptr<Factory> factoryInstance;
};
 
template <typename T>
class RegisterTypeProxy {
 public:
  RegisterTypeProxy(const std::string& name) : _name(name) {
#ifdef G2O_DEBUG_FACTORY
    std::cout << __FUNCTION__ << ": Registering " << _name << " of type "
              << typeid(T).name() << std::endl;
#endif
    _creator.reset(new HyperGraphElementCreator<T>());
    Factory::instance()->registerType(_name, _creator);
  }
 
 private:
  std::string _name;
  std::shared_ptr<AbstractHyperGraphElementCreator> _creator;
};
 
}  // namespace g2o
 
#if defined _MSC_VER && defined G2O_SHARED_LIBS
#define G2O_FACTORY_EXPORT __declspec(dllexport)
#define G2O_FACTORY_IMPORT __declspec(dllimport)
#else
#define G2O_FACTORY_EXPORT
#define G2O_FACTORY_IMPORT
#endif
 
// These macros are used to automate registering types and forcing linkage
#define G2O_REGISTER_TYPE(name, classname)                         \
  extern "C" void G2O_FACTORY_EXPORT g2o_type_##classname(void) {} \
  static g2o::RegisterTypeProxy<classname> g_type_proxy_##classname(#name);
 
#define G2O_USE_TYPE_BY_CLASS_NAME(classname)                    \
  extern "C" void G2O_FACTORY_IMPORT g2o_type_##classname(void); \
  static g2o::ForceLinker proxy_##classname(g2o_type_##classname);
 
#define G2O_REGISTER_TYPE_GROUP(typeGroupName) \
  extern "C" void G2O_FACTORY_EXPORT g2o_type_group_##typeGroupName(void) {}
 
#define G2O_USE_TYPE_GROUP(typeGroupName)                                  \
  extern "C" void G2O_FACTORY_IMPORT g2o_type_group_##typeGroupName(void); \
  static g2o::ForceLinker g2o_force_type_link_##typeGroupName(             \
      g2o_type_group_##typeGroupName);
 
#endif