libyaml-based, incremental parsing of properties

... ensures display in document order
This commit is contained in:
Robert Haschke 2019-02-09 20:26:35 +01:00
parent 9810e3bb4b
commit bb61513cb8

View File

@ -41,76 +41,153 @@
namespace mtc = ::moveit::task_constructor; namespace mtc = ::moveit::task_constructor;
namespace moveit_rviz_plugin {
/** Implement PropertyFactory::createDefault(), creating an rviz::Property (tree) /** Implement PropertyFactory::createDefault(), creating an rviz::Property (tree)
* from a YAML-serialized string. * from a YAML-serialized string.
* As we cannot know the required data type for a field from YAML parsing, * As we cannot know the required data type for a field from YAML parsing,
* we only distinguish numbers (FloatProperty) and all other YAML scalars (StringProperty). * we only distinguish numbers (FloatProperty) and all other YAML scalars (StringProperty).
*/ */
#if 0
namespace {
// Event-based YAML parser, creating an rviz::Property tree
// https://www.wpsoftware.net/andrew/pages/libyaml.html
class Parser {
public:
static const int YAML_ERROR_EVENT = 255;
Parser(const std::string& value);
~Parser();
rviz::Property* process(const QString& name, const QString& description, rviz::Property *old) const;
static rviz::Property* createScalar(const QString& name, const QString& description,
const QByteArray& value, rviz::Property *old);
private:
// return true if there was no error so far
bool noError() const { return parser_.error == YAML_NO_ERROR; }
// parse a single event and return it's type, YAML_ERROR_EVENT on parsing error
int parse(yaml_event_t& event) const;
// process events: scalar, start mapping, start sequence
rviz::Property *process(const yaml_event_t &event, const QString &name, const QString &description, rviz::Property *old) const;
inline static QByteArray byteArray(const yaml_event_t& event) {
assert(event.type == YAML_SCALAR_EVENT);
return QByteArray::fromRawData(reinterpret_cast<const char*>(event.data.scalar.value),
event.data.scalar.length);
}
// Try to set value of existing rviz::Property (expecting matching types). Return false on error.
static bool setValue(rviz::Property *old, const QByteArray &value);
static rviz::Property *createParent(const QString &name, const QString &description, rviz::Property *old);
rviz::Property* processMapping(const QString& name, const QString& description, rviz::Property *old) const;
rviz::Property* processSequence(const QString& name, const QString& description, rviz::Property *old) const;
private:
mutable yaml_parser_t parser_;
};
Parser::Parser(const std::string &value) {
yaml_parser_initialize(&parser_);
yaml_parser_set_input_string(&parser_, reinterpret_cast<const yaml_char_t*>(value.c_str()), value.size());
}
Parser::~Parser() {
yaml_parser_delete(&parser_);
}
int Parser::parse(yaml_event_t &event) const {
if (!yaml_parser_parse(&parser_, &event)) {
yaml_event_delete(&event);
return YAML_ERROR_EVENT;
}
return event.type;
}
// main processing function
rviz::Property *Parser::process(const QString &name, const QString &description, rviz::Property *old) const {
bool stop = false;
while (!stop) {
yaml_event_t event;
switch (parse(event)) {
case YAML_ERROR_EVENT: return Parser::createScalar(name, description, "YAML error", old);
case YAML_STREAM_END_EVENT:
stop = true;
break;
case YAML_SEQUENCE_START_EVENT:
case YAML_MAPPING_START_EVENT:
case YAML_SCALAR_EVENT:
return process(event, name, description, old);
default: break;
}
}
// if we get here, there was no content in the yaml stream
return createScalar(name, description, "undefined", old);
}
// default processing for scalar, start mapping, start sequence events
rviz::Property* Parser::process(const yaml_event_t& event,
const QString& name, const QString& description, rviz::Property *old) const {
switch (event.type) {
case YAML_SEQUENCE_START_EVENT: return processSequence(name, description, old);
case YAML_MAPPING_START_EVENT: return processMapping(name, description, old);
case YAML_SCALAR_EVENT: return createScalar(name, description, byteArray(event), old);
}
assert(false); // should not be reached
}
// Try to set numeric or arbitrary scalar value from YAML node. Needs to match old's type. // Try to set numeric or arbitrary scalar value from YAML node. Needs to match old's type.
void setScalarValue(rviz::Property* old, const YAML::Node& node) bool Parser::setValue(rviz::Property* old, const QByteArray& value)
{ {
if (rviz::FloatProperty* p = dynamic_cast<rviz::FloatProperty*>(old)) { if (rviz::FloatProperty* p = dynamic_cast<rviz::FloatProperty*>(old)) {
// value should be a number. If not throws YAML::BadConversion bool ok = true;
p->setValue(node.as<double>()); double v = value.toDouble(&ok);
return; if (ok) p->setValue(v);
return ok;
} }
if (rviz::StringProperty* p = dynamic_cast<rviz::StringProperty*>(old)) { if (rviz::StringProperty* p = dynamic_cast<rviz::StringProperty*>(old)) {
// value should be an arbitrary string. If not throws YAML::BadConversion // value should be an arbitrary string. If not throws YAML::BadConversion
p->setValue(QString::fromStdString(node.as<std::string>())); p->setValue(value);
return; return true;
} }
throw YAML::BadConversion(); return false;
} }
// Update existing old rviz:Property or create a new one from scalar YAML node // Update existing old rviz:Property or create a new one from scalar YAML node
rviz::Property* createFromScalar(const QString& name, const QString& description, rviz::Property *Parser::createScalar(const QString &name, const QString &description,
const YAML::Node& node, rviz::Property* old) const QByteArray &value, rviz::Property *old)
{ {
while (old) { // reuse existing Property? // try to update value, expecting matching rviz::Property
try { if (old && setValue(old, value)) {
// try to update value, expecting matching rviz::Property // only if setValue succeeded, also update the rest
setScalarValue(old, node); old->setName(name);
// only if setScalarValue succeeded, also update the rest old->setDescription(description);
old->setName(name); return old;
old->setDescription(description);
return old;
} catch (const YAML::BadConversion&) {
break; // on error, break from loop and create a new property
}
} }
// if value is a number, create a FloatProperty bool ok = true;
try { return new rviz::FloatProperty(name, node.as<double>(), description); } double v = value.toDouble(&ok);
catch (const YAML::BadConversion&) {} if (ok) // if value is a number, create a FloatProperty
old = new rviz::FloatProperty(name, v, description);
else // otherwise create a StringProperty
old = new rviz::StringProperty(name, value, description);
// otherwise create a StringProperty old->setReadOnly(true);
return new rviz::StringProperty(name, QString::fromStdString(node.as<std::string>()), description); return old;
} }
// Create a scalar YAML node with given content value
YAML::Node dummyNode(const std::string& content) {
YAML::Node dummy;
dummy=content;
return dummy;
}
// forward declaration
rviz::Property* createFromNode(const QString& name, const QString& description,
const YAML::Node& node, rviz::Property* old);
// Reuse old property (or create new one) as parent for a sequence or map // Reuse old property (or create new one) as parent for a sequence or map
rviz::Property* createParent(const QString& name, const QString& description, rviz::Property* old) rviz::Property* Parser::createParent(const QString& name, const QString& description, rviz::Property* old)
{ {
// don't reuse float or string properties (they are for scalars) // don't reuse float or string properties (they are for scalars)
if (dynamic_cast<rviz::FloatProperty*>(old) || if (dynamic_cast<rviz::FloatProperty*>(old) ||
dynamic_cast<rviz::StringProperty*>(old)) dynamic_cast<rviz::StringProperty*>(old))
old = nullptr; old = nullptr;
if (!old) if (!old) {
old = new rviz::Property(name, description); old = new rviz::Property(name, QVariant(), description);
else { old->setReadOnly(true);
} else {
old->setName(name); old->setName(name);
old->setDescription(description); old->setDescription(description);
} }
@ -118,31 +195,58 @@ rviz::Property* createParent(const QString& name, const QString& description, rv
} }
// Hierarchically create property from YAML map node // Hierarchically create property from YAML map node
rviz::Property* createFromMap(const QString& name, const QString& description, rviz::Property* Parser::processMapping(const QString& name, const QString& description, rviz::Property* root) const
const YAML::Node& node, rviz::Property* root)
{ {
root = createParent(name, description, root); root = createParent(name, description, root);
int index = 0; // current child index in root int index = 0; // current child index in root
for(YAML::const_iterator it=node.begin(); it!=node.end(); ++it) { bool stop = false;
QString child_name = QString::fromStdString(it->first.as<std::string>()); while (!stop && noError()) { // parse all map items
int num = root->numChildren(); yaml_event_t event;
// find first child with name >= it->name switch (parse(event)) { // parse key
int next = index; case YAML_MAPPING_END_EVENT: // all fine, reached end of mapping
while (next < num && root->childAt(next)->getName() < child_name) stop = true;
++next; break;
// and remove all children in range [index, next) at once
root->removeChildren(index, next-index);
num = root->numChildren();
// if names differ, insert a new child, otherwise reuse existing case YAML_SCALAR_EVENT: { // key
rviz::Property *old_child = index < num ? root->childAt(index) : nullptr; QByteArray key = byteArray(event);
if (old_child && old_child->getName() != child_name) int num = root->numChildren();
old_child = nullptr; // find first child with name >= it->name
int next = index;
while (next < num && root->childAt(next)->getName() < key)
++next;
// and remove all children in range [index, next) at once
root->removeChildren(index, next-index);
num = root->numChildren();
rviz::Property *new_child = createFromNode(child_name, "", it->second, old_child); // if names differ, insert a new child, otherwise reuse existing
if (new_child != old_child) rviz::Property *old_child = index < num ? root->childAt(index) : nullptr;
root->addChild(new_child, index); if (old_child && old_child->getName() != key)
++index; old_child = nullptr;
rviz::Property *new_child = nullptr;
switch (parse(event)) { // parse value
case YAML_MAPPING_START_EVENT:
case YAML_SEQUENCE_START_EVENT:
case YAML_SCALAR_EVENT:
new_child = process(event, key, "", old_child);
break;
default: // all other events are an error
new_child = createScalar(key, "", parser_.problem, old_child);
root->setValue("YAML error");
break;
}
if (new_child != old_child)
root->addChild(new_child, index);
++index;
break;
}
default: // unexpected event
root->setValue("YAML error");
stop = true;
break;
}
} }
// remove remaining children // remove remaining children
root->removeChildren(index, root->numChildren()-index); root->removeChildren(index, root->numChildren()-index);
@ -150,42 +254,44 @@ rviz::Property* createFromMap(const QString& name, const QString& description,
} }
// Hierarchically create property from YAML sequence node. Items are named [#]. // Hierarchically create property from YAML sequence node. Items are named [#].
rviz::Property* createFromSequence(const QString& name, const QString& description, rviz::Property* Parser::processSequence(const QString& name, const QString& description, rviz::Property* root) const
const YAML::Node& node, rviz::Property* root)
{ {
root = createParent(name, description, root); root = createParent(name, description, root);
int index = 0; // current child index in root int index = 0; // current child index in root
for (YAML::const_iterator it=node.begin(); it != node.end(); ++it) { bool stop = false;
rviz::Property *old_child = root->childAt(index); // nullptr for invalid index while (!stop && noError()) { // parse all map items
rviz::Property *new_child = createFromNode(QString("[%1]").arg(index), "", *it, old_child); yaml_event_t event;
if (new_child != old_child) switch (parse(event)) {
root->addChild(new_child, index); case YAML_SEQUENCE_END_EVENT: // all fine, reached end of sequence
if (++index >= 10) stop = true;
break; // limit number of entries break;
case YAML_MAPPING_START_EVENT:
case YAML_SEQUENCE_START_EVENT:
case YAML_SCALAR_EVENT: {
rviz::Property *old_child = root->childAt(index); // nullptr for invalid index
rviz::Property *new_child = process(event, QString("[%1]").arg(index), "", old_child);
if (new_child != old_child)
root->addChild(new_child, index);
if (++index >= 10)
stop = true; // limit number of shown entries
break;
}
default: // unexpected event
root->setValue("YAML error");
stop = true;
break;
}
} }
// remove remaining children // remove remaining children
root->removeChildren(index, root->numChildren()-index); root->removeChildren(index, root->numChildren()-index);
return root; return root;
} }
// Create a property from any YAML node.
rviz::Property* createFromNode(const QString& name, const QString& description,
const YAML::Node& node, rviz::Property* old)
{
rviz::Property* result = nullptr;
switch(node.Type()) {
case YAML::NodeType::Scalar: result = createFromScalar(name, description, node, old); break;
case YAML::NodeType::Sequence: result = createFromSequence(name, description, node, old); break;
case YAML::NodeType::Map: result = createFromMap(name, description, node, old); break;
case YAML::NodeType::Null: result = createFromScalar(name, description, dummyNode("undefined"), old); break;
default: result = createFromScalar(name, description, dummyNode("unknown YAML node"), old); break;
}
result->setReadOnly(true);
return result;
} }
#endif
inline std::string indent(unsigned int depth) { return std::string(2*depth, ' '); } namespace moveit_rviz_plugin {
rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& type, rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& type,
const std::string& description, const std::string& value, const std::string& description, const std::string& value,
@ -193,46 +299,8 @@ rviz::Property* PropertyFactory::createDefault(const std::string& name, const st
{ {
QString qname = QString::fromStdString(name); QString qname = QString::fromStdString(name);
QString qdesc = QString::fromStdString(description); QString qdesc = QString::fromStdString(description);
Parser parser(value);
yaml_parser_t parser; return parser.process(qname, qdesc, old);
yaml_parser_initialize(&parser);
yaml_parser_set_input_string(&parser, reinterpret_cast<const yaml_char_t*>(value.c_str()), value.size());
try {
unsigned int depth=0;
bool proceed = true;
while (proceed) {
yaml_event_t event;
if (!yaml_parser_parse(&parser, &event)) {
yaml_event_delete(&event);
throw std::runtime_error(parser.problem);
break;
}
switch(event.type)
{
case YAML_NO_EVENT: std::cout << indent(depth) << "No event!" << std::endl; break;
/* Stream start/end */
case YAML_STREAM_START_EVENT: std::cout << indent(depth++) << "STREAM START" << std::endl; break;
case YAML_STREAM_END_EVENT: std::cout << indent(--depth) << "STREAM END" << std::endl; break;
/* Block delimeters */
case YAML_DOCUMENT_START_EVENT: std::cout << indent(depth++) << "Start Document" << std::endl; break;
case YAML_DOCUMENT_END_EVENT: std::cout << indent(--depth) << "End Document" << std::endl; break;
case YAML_SEQUENCE_START_EVENT: std::cout << indent(depth++) << "Start Sequence" << std::endl; break;
case YAML_SEQUENCE_END_EVENT: std::cout << indent(--depth) << "End Sequence" << std::endl; break;
case YAML_MAPPING_START_EVENT: std::cout << indent(depth++) << "Start Mapping" << std::endl; break;
case YAML_MAPPING_END_EVENT: std::cout << indent(--depth) << "End Mapping" << std::endl; break;
/* Data */
case YAML_ALIAS_EVENT: std::cout << indent(depth) << "alias anchor=" << event.data.alias.anchor << std::endl; break;
case YAML_SCALAR_EVENT: std::cout << indent(depth) << "scalar: " << event.data.scalar.value << std::endl; break;
}
proceed = event.type != YAML_STREAM_END_EVENT;
yaml_event_delete(&event);
}
return nullptr;
} catch (const std::exception &e) {
std::cout << e.what() << std::endl;
return nullptr;
}
} }
} }