indexed_list.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <unordered_map>
#include <vector>

#include <boost/thread/shared_mutex.hpp>

#include "cyber/common/log.h"
#include "modules/common/util/map_util.h"

namespace apollo {
namespace planning {

template <typename I, typename T>
class IndexedList {
 public:
  T* Add(const I id, const T& object) {
    auto obs = Find(id);
    if (obs) {
      AWARN << "object " << id << " is already in container";
      *obs = object;
      return obs;
    } else {
      object_dict_.insert({id, object});
      auto* ptr = &object_dict_.at(id);
      object_list_.push_back(ptr);
      return ptr;
    }
  }

  T* Find(const I id) {
    return apollo::common::util::FindOrNull(object_dict_, id);
  }

  const T* Find(const I id) const {
    return apollo::common::util::FindOrNull(object_dict_, id);
  }

  const std::vector<const T*>& Items() const { return object_list_; }

  const std::unordered_map<I, T>& Dict() const { return object_dict_; }

  IndexedList& operator=(const IndexedList& other) {
    this->object_list_.clear();
    this->object_dict_.clear();
    for (const auto& item : other.Dict()) {
      Add(item.first, item.second);
    }
    return *this;
  }

 private:
  std::vector<const T*> object_list_;
  std::unordered_map<I, T> object_dict_;
};

template <typename I, typename T>
class ThreadSafeIndexedList : public IndexedList<I, T> {
 public:
  T* Add(const I id, const T& object) {
    boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
    return IndexedList<I, T>::Add(id, object);
  }

  T* Find(const I id) {
    boost::shared_lock<boost::shared_mutex> reader_lock(mutex_);
    return IndexedList<I, T>::Find(id);
  }

  std::vector<const T*> Items() const {
    boost::shared_lock<boost::shared_mutex> reader_lock(mutex_);
    return IndexedList<I, T>::Items();
  }

 private:
  mutable boost::shared_mutex mutex_;
};

}  // namespace planning
}  // namespace apollo