Joan Solà Ortega
--- a/include/core/processor/factory_processor.h

+ 42

− 103
+++ b/include/core/processor/factory_processor.h

+ 42

− 103
 @@ -27,143 +27,92 @@ namespace wolf
 *
 * Specific object creation is invoked by create(TYPE, params), and the TYPE of processor is identified with a string.
 * For example, the following processor types are implemented,
- *   - "ODOM 3d" for ProcessorOdom3d
- *   - "ODOM 2d" for ProcessorOdom2d
- *   - "GPS"     for ProcessorGPS
- *
- * The rule to make new TYPE strings unique is that you skip the prefix 'Processor' from your class name,
- * and you build a string in CAPITALS with space separators.
- *   - ProcessorImageFeature -> ````"IMAGE"````
- *   - ProcessorLaser2d -> ````"LASER 2d"````
- *   - etc.
- *
- * The methods to create specific processors are called __creators__.
- * Creators must be registered to the factory before they can be invoked for processor creation.
- *
- * This documentation shows you how to:
- *   - Access the Factory
- *   - Register and unregister creators
- *   - Create processors
- *   - Write a processor creator for ProcessorOdom2d (example).
- *
- * #### Accessing the Factory
- * The FactoryProcessor class is a singleton: it can only exist once in your application.
- * To obtain an instance of it, use the static method get(),
- *
- *     \code
- *     FactoryProcessor::get()
- *     \endcode
+ *   - "ProcessorOdom2d"    for ProcessorOdom2d
+ *   - "ProcessorOdom3d"    for ProcessorOdom3d
+ *   - "ProcessorDiffDrive" for ProcessorDiffDrive
 *
- * You can then call the methods you like, e.g. to create a processor, you type:
- *
- *     \code
- *     FactoryProcessor::get().create(...); // see below for creating processors ...
- *     \endcode
- *
- * #### Registering processor creators
- * Prior to invoking the creation of a processor of a particular type,
- * you must register the creator for this type into the factory.
+ * among others.
 *
- * Registering processor creators into the factory is done through registerCreator().
- * You provide a processor type string (above), and a pointer to a static method
- * that knows how to create your specific processor, e.g.:
+ * Find general Factory documentation in class Factory:
+ *   - Access the factory
+ *   - Register/unregister creators
+ *   - Invoke object creation
 *
- *     \code
- *     FactoryProcessor::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
- *     \endcode
 *
- * The method ProcessorOdom2d::create() exists in the ProcessorOdom2d class as a static method.
- * All these ProcessorXxx::create() methods need to have exactly the same API, regardless of the processor type.
- * This API includes a processor name, and a pointer to a base struct of parameters, ParamsProcessorBasePtr,
- * that can be derived for each derived processor.
+ * This documentation shows you how to use the FactoryProcessor specifically:
+ *   - Write a processor creator
+ *   - Create processors
 *
- * Here is an example of ProcessorOdom2d::create() extracted from processor_odom_2d.h:
+ * #### Write processor creators
+ * Processor creators have the following API:
 *
 *     \code
- *     static ProcessorBasePtr create(const std::string& _name, ParamsProcessorBasePtr _params)
- *     {
- *         // cast _params to good type
- *         ParamsProcessorOdom2d* params = (ParamsProcessorOdom2d*)_params;
- *
- *         ProcessorBasePtr prc = new ProcessorOdom2d(params);
- *         prc->setName(_name); // pass the name to the created ProcessorOdom2d.
- *         return prc;
- *     }
+ *     static ProcessorBasePtr create(const std::string& _name, ParamsProcessorBasePtr _params_processor);
 *     \endcode
 *
- * #### Achieving automatic registration
- * Currently, registering is performed in each specific ProcessorXxxx source file, processor_xxxx.cpp.
- * For example, in processor_odom_2d.cpp we find the line:
+ * They follow the general implementation shown below:
 *
 *     \code
- *     const bool registered_odom_2d = FactoryProcessor::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
- *     \endcode
+ *      static ProcessorBasePtr create(const std::string& _unique_name, ParamsProcessorBasePtr _params_processor)
+ *      {
+ *          // cast processor parameters to good type --- example: ParamsProcessorOdom3d
+ *          auto params_processor_ptr = std::static_pointer_cast<ParamsProcessorOdom3d>(_params_processor);
 *
- * which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2d class).
- * Therefore, at application level, all processors that have a .cpp file compiled are automatically registered.
+ *          // Do create the Processor object --- example: ProcessorOdom3d
+ *          auto prc_ptr = std::make_shared<ProcessorOdom3d>(params_processor_ptr);
 *
- * #### Unregister processor creators
- * The method unregisterCreator() unregisters the ProcessorXxx::create() method.
- * It only needs to be passed the string of the processor type.
+ *          // Complete the processor setup with a unique name identifying the processor
+ *          prc_ptr->setName(_unique_name);
 *
- *     \code
- *     FactoryProcessor::get().unregisterCreator("ProcessorOdom2d");
+ *          return prc_ptr;
+ *      }
 *     \endcode
 *
 * #### Creating processors
- * Prior to invoking the creation of a processor of a particular type,
+ * Note: Prior to invoking the creation of a processor of a particular type,
 * you must register the creator for this type into the factory.
 *
 * To create a ProcessorOdom2d, you type:
 *
 *     \code
- *     FactoryProcessor::get().create("ProcessorOdom2d", "main odometry", params_ptr);
+ *     auto prc_odom2d_ptr = FactoryProcessor::get().create("ProcessorOdom2d", "main odometry", params_ptr);
 *     \endcode
 *
- * #### Example 1 : using the Factories alone
+ * #### Example 1 : Create a sensor and its processor
 * We provide the necessary steps to create a processor of class ProcessorOdom2d in our application,
 * and bind it to a SensorOdom2d:
 *
 *     \code
- *     #include "core/sensor/sensor_odom_2d.h"      // provides SensorOdom2d    and FactorySensor
+ *     #include "core/sensor/sensor_odom_2d.h"         // provides SensorOdom2d    and FactorySensor
 *     #include "core/processor/processor_odom_2d.h"   // provides ProcessorOdom2d and FactoryProcessor
 *
 *     // Note: SensorOdom2d::create()    is already registered, automatically.
 *     // Note: ProcessorOdom2d::create() is already registered, automatically.
 *
 *     // First create the sensor (See FactorySensor for details)
- *     SensorBasePtr sensor_ptr = FactorySensor::get().create ( "FactorOdom2d" , "Main odometer" , extrinsics , &intrinsics );
+ *     SensorBasePtr sensor_ptr = FactorySensor::get().create ( "SensorOdom2d" , "Main odometer" , extrinsics , &intrinsics );
 *
- *     // To create a odometry integrator, provide a type="ODOM 2d", a name="main odometry", and a pointer to the parameters struct:
+ *     // To create a odometry integrator, provide a type="ProcessorOdom2d", a name="main odometry", and a pointer to the parameters struct:
 *
- *     ParamsProcessorOdom2d  params({...});   // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
+ *     auto params = make_shared<ParamsProcessorOdom2d>({...});   // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
 *
 *     ProcessorBasePtr processor_ptr =
- *         FactoryProcessor::get().create ( "ProcessorOdom2d" , "main odometry" , &params );
+ *         FactoryProcessor::get().create ( "ProcessorOdom2d" , "main odometry" , params );
 *
 *     // Bind processor to sensor
 *     sensor_ptr->addProcessor(processor_ptr);
 *     \endcode
 *
- * #### Example 2: Using the helper API in class Problem
- * The WOLF uppermost node, Problem, makes the creation of sensors and processors, and the binding between them, even simpler.
- *
- * The creation is basically replicating the factories' API. The binding is accomplished by passing the sensor name to the Processor installer.
- *
- * The example 1 above can be accomplished as follows (we obviated for simplicity all the parameter creation),
- *
- *     \code
- *     #include "core/sensor/sensor_odom_2d.h"
- *     #include "core/processor/processor_odom_2d.h"
- *     #include "core/problem/problem.h"
- *
- *     Problem problem(FRM_PO_2d);
- *     problem.installSensor    ( "SensorOdom2d" , "Main odometer" , extrinsics      , &intrinsics );
- *     problem.installProcessor ( "ProcessorOdom2d" , "Odometry"      , "Main odometer" , &params     );
- *     \endcode
- *
- * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
 */
+typedef Factory<ProcessorBase,
+        const std::string&,
+        const ParamsProcessorBasePtr> FactoryProcessor;
+template<>
+inline std::string FactoryProcessor::getClass() const
+{
+  return "FactoryProcessor";
+}
+

 // ParamsProcessor factory
 struct ParamsProcessorBase;
 @@ -175,16 +124,6 @@ inline std::string FactoryParamsProcessor::getClass() const
    return "FactoryParamsProcessor";
 }

-// Processor factory
-typedef Factory<ProcessorBase,
-        const std::string&,
-        const ParamsProcessorBasePtr> FactoryProcessor;
-template<>
-inline std::string FactoryProcessor::getClass() const
-{
-  return "FactoryProcessor";
-}
-
 #define WOLF_REGISTER_PROCESSOR(ProcessorType)                                   \
  namespace{ const bool WOLF_UNUSED ProcessorType##Registered =                                 \
    wolf::FactoryProcessor::get().registerCreator(#ProcessorType, ProcessorType::create); }      \