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synced 2025-11-04 14:49:57 +08:00
wip: understand event-based, incremental parsing with libyaml
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@ -5,7 +5,7 @@ set(SOURCES
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)
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include(FindPkgConfig)
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pkg_check_modules(YAML yaml-cpp>=0.5)
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pkg_check_modules(YAML yaml-0.1)
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if (YAML_FOUND)
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# Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
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find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
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@ -35,7 +35,7 @@
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/* Author: Robert Haschke */
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#include "property_factory.h"
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#include <yaml-cpp/yaml.h>
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#include <yaml.h>
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#include <rviz/properties/string_property.h>
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#include <rviz/properties/float_property.h>
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@ -48,7 +48,7 @@ namespace moveit_rviz_plugin {
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* As we cannot know the required data type for a field from YAML parsing,
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* we only distinguish numbers (FloatProperty) and all other YAML scalars (StringProperty).
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*/
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#if 0
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// Try to set numeric or arbitrary scalar value from YAML node. Needs to match old's type.
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void setScalarValue(rviz::Property* old, const YAML::Node& node)
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{
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@ -183,6 +183,9 @@ rviz::Property* createFromNode(const QString& name, const QString& description,
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result->setReadOnly(true);
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return result;
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}
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#endif
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inline std::string indent(unsigned int depth) { return std::string(2*depth, ' '); }
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rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& type,
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const std::string& description, const std::string& value,
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@ -190,10 +193,45 @@ rviz::Property* PropertyFactory::createDefault(const std::string& name, const st
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{
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QString qname = QString::fromStdString(name);
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QString qdesc = QString::fromStdString(description);
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yaml_parser_t parser;
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yaml_parser_initialize(&parser);
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yaml_parser_set_input_string(&parser, reinterpret_cast<const yaml_char_t*>(value.c_str()), value.size());
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try {
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return createFromNode(qname, qdesc, YAML::Load(value), old);
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unsigned int depth=0;
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bool proceed = true;
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while (proceed) {
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yaml_event_t event;
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if (!yaml_parser_parse(&parser, &event)) {
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yaml_event_delete(&event);
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throw std::runtime_error(parser.problem);
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break;
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}
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switch(event.type)
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{
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case YAML_NO_EVENT: std::cout << indent(depth) << "No event!" << std::endl; break;
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/* Stream start/end */
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case YAML_STREAM_START_EVENT: std::cout << indent(depth++) << "STREAM START" << std::endl; break;
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case YAML_STREAM_END_EVENT: std::cout << indent(--depth) << "STREAM END" << std::endl; break;
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/* Block delimeters */
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case YAML_DOCUMENT_START_EVENT: std::cout << indent(depth++) << "Start Document" << std::endl; break;
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case YAML_DOCUMENT_END_EVENT: std::cout << indent(--depth) << "End Document" << std::endl; break;
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case YAML_SEQUENCE_START_EVENT: std::cout << indent(depth++) << "Start Sequence" << std::endl; break;
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case YAML_SEQUENCE_END_EVENT: std::cout << indent(--depth) << "End Sequence" << std::endl; break;
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case YAML_MAPPING_START_EVENT: std::cout << indent(depth++) << "Start Mapping" << std::endl; break;
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case YAML_MAPPING_END_EVENT: std::cout << indent(--depth) << "End Mapping" << std::endl; break;
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/* Data */
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case YAML_ALIAS_EVENT: std::cout << indent(depth) << "alias anchor=" << event.data.alias.anchor << std::endl; break;
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case YAML_SCALAR_EVENT: std::cout << indent(depth) << "scalar: " << event.data.scalar.value << std::endl; break;
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}
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proceed = event.type != YAML_STREAM_END_EVENT;
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yaml_event_delete(&event);
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}
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return nullptr;
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} catch (const std::exception &e) {
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return createFromNode(qname, qdesc, dummyNode("YAML parse error"), old);
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std::cout << e.what() << std::endl;
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return nullptr;
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}
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}
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