ArrayLabel.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/Label.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT>
struct ArrayLabelImpl : public LabelImpl<GetT>
{
  static constexpr auto type = Elements::ArrayLabel;
 
  ArrayLabelImpl(const std::string & name, GetT get_fn) : LabelImpl<GetT>(name, get_fn) {}
 
  ArrayLabelImpl(const std::string & name, const std::vector<std::string> & labels, GetT get_fn)
  : LabelImpl<GetT>(name, get_fn), labels_(labels)
  {
  }
 
  ArrayLabelImpl() {}
 
  static constexpr size_t write_size() { return LabelImpl<GetT>::write_size() + 1; }
 
  void write(mc_rtc::MessagePackBuilder & writer)
  {
    LabelImpl<GetT>::write(writer);
    writer.write(labels_);
  }
 
private:
  std::vector<std::string> labels_;
};
 
} // namespace details
 
template<typename GetT, std::enable_if_t<std::is_invocable_v<GetT>, int> = 0>
auto ArrayLabel(const std::string & name, GetT get_fn)
{ return details::ArrayLabelImpl(name, get_fn); }
 
template<typename GetT, std::enable_if_t<std::is_invocable_v<GetT>, int> = 0>
auto ArrayLabel(const std::string & name, const std::vector<std::string> & labels, GetT get_fn)
{ return details::ArrayLabelImpl(name, labels, get_fn); }
 
template<typename T, std::enable_if_t<!std::is_invocable_v<T>, int> = 0>
auto ArrayLabel(const std::string & name, const std::vector<std::string> & labels, T && value)
{ return ArrayLabel(name, labels, details::read(std::forward<T>(value))); }
 
template<typename T, std::enable_if_t<!std::is_invocable_v<T>, int> = 0>
auto ArrayLabel(const std::string & name, T && value)
{
  using Labels = details::Labels<std::decay_t<T>>;
  auto callback = details::read(std::forward<T>(value));
  if constexpr(Labels::has_labels) { return ArrayLabel(name, Labels::labels, callback); }
  else
  {
    return details::ArrayLabelImpl(name, callback);
  }
}
 
template<bool Degrees = true, typename T>
auto RPYLabel(const std::string & name, T && value)
{ return ArrayLabel(name, details::RPYLabels<Degrees>::labels, details::read_rpy<Degrees>(std::forward<T>(value))); }
 
} // namespace mc_rtc::gui