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

#include <vector>
#include <iostream>

#include "macros.h"

#include "string_tools.h"
using namespace std;

namespace g2o {

BaseProperty::BaseProperty(const std::string name_) :_name(name_){
}

BaseProperty::~BaseProperty(){}

bool PropertyMap::addProperty(BaseProperty* p) {
std::pair<PropertyMapIterator,bool> result = insert(make_pair(p->name(), p));
return result.second;
}

bool PropertyMap::eraseProperty(const std::string& name) {
PropertyMapIterator it=find(name);
if (it==end())
return false;
delete it->second;
erase(it);
return true;
}

PropertyMap::~PropertyMap() {
for (PropertyMapIterator it=begin(); it!=end(); it++){
if (it->second)
delete it->second;
}
}

bool PropertyMap::updatePropertyFromString(const std::string& name, const std::string& value)
{
PropertyMapIterator it = find(name);
if (it == end())
return false;
it->second->fromString(value);
return true;
}

void PropertyMap::writeToCSV(std::ostream& os) const
{
for (PropertyMapConstIterator it=begin(); it!=end(); it++){
BaseProperty* p =it->second;
os << p->name() << ", ";
}
os << std::endl;
for (PropertyMapConstIterator it=begin(); it!=end(); it++){
BaseProperty* p =it->second;
os << p->toString() << ", ";
}
os << std::endl;
}

bool PropertyMap::updateMapFromString(const std::string& values)
{
bool status = true;
vector<string> valuesMap = strSplit(values, ",");
for (size_t i = 0; i < valuesMap.size(); ++i) {
vector<string> m = strSplit(valuesMap[i], "=");
if (m.size() != 2) {
cerr << __PRETTY_FUNCTION__ << ": unable to extract name=value pair from " << valuesMap[i] << endl;
continue;
}
string name = trim(m[0]);
string value = trim(m[1]);
status = status && updatePropertyFromString(name, value);
}
return status;
}

} // end namespace