//=================================================================================================
// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
// 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.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// 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 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 "parameters.h"
#include <hector_pose_estimation/matrix.h>

#include <rtt/Logger.hpp>
#include <rtt/PropertyBag.hpp>
#include <rtt/Property.hpp>

namespace hector_pose_estimation {

ParameterRegistryProperties::ParameterRegistryProperties(RTT::PropertyBag *properties, bool set_all)
  : properties_(properties)
  , set_all_(set_all)
{
}

void ParameterRegistryProperties::operator ()(ParameterPtr parameter) {
  properties_->removeProperty(properties_->getProperty(parameter->key));
  if (parameter->hasType<std::string>()) { properties_->addProperty(parameter->key, parameter->as<std::string>()); return; }
  if (parameter->hasType<double>())      { properties_->addProperty(parameter->key, parameter->as<double>()); return; }
  if (parameter->hasType<int>())         { properties_->addProperty(parameter->key, parameter->as<int>()); return; }
  if (parameter->hasType<bool>())        { properties_->addProperty(parameter->key, parameter->as<bool>()); return; }

  if (parameter->hasType< std::vector<double> >()) {
    // TODO
    // return;
  }

  if (parameter->hasType< std::vector<ColumnVector> >()) {
    // TODO
    // return;
  }

  RTT::log(RTT::Error) << "Could not register parameter " << parameter->key << " due to unknown type " << parameter->type() << "!" << RTT::endlog();
}

} // namespace hector_pose_estimation
