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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
yamp-cpp parsing
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20e951bf63
commit
e71376743c
@ -159,7 +159,7 @@ std::string Property::serialize(const boost::any& value)
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boost::any Property::deserialize(const std::string& type_name, const std::string& wire)
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{
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if (wire.empty())
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if (type_name != Property::typeName(typeid(std::string)) && wire.empty())
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return boost::any();
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else
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return registry_singleton_.entry(type_name).deserialize_(wire);
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@ -3,14 +3,24 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_properties)
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set(SOURCES
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property_factory.cpp
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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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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 ${YAML_LIBRARY_DIRS})
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list(APPEND SOURCES property_from_yaml.cpp)
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add_definitions(-DHAVE_YAML)
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endif()
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add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
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target_link_libraries(${MOVEIT_LIB_NAME}
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${QT_LIBRARIES}
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${QT_LIBRARIES} ${YAML_LIBRARIES}
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)
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target_include_directories(${MOVEIT_LIB_NAME}
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
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PRIVATE ${catkin_INCLUDE_DIRS}
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PRIVATE ${catkin_INCLUDE_DIRS} ${YAML_INCLUDE_DIRS}
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)
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install(TARGETS ${MOVEIT_LIB_NAME}
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@ -151,6 +151,7 @@ void PropertyFactory::addRemainingProperties(rviz::Property* root, mtc::Property
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new rviz::Property("no properties", QVariant(), QString(), root);
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}
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#ifndef HAVE_YAML
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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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rviz::Property* old)
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@ -168,5 +169,6 @@ rviz::Property* PropertyFactory::createDefault(const std::string& name, const st
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return result;
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}
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}
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#endif
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}
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@ -0,0 +1,200 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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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 <rviz/properties/string_property.h>
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#include <rviz/properties/float_property.h>
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namespace mtc = ::moveit::task_constructor;
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namespace moveit_rviz_plugin {
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/** Implement PropertyFactory::createDefault(), creating an rviz::Property (tree)
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* from a YAML-serialized string.
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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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// 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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if (rviz::FloatProperty* p = dynamic_cast<rviz::FloatProperty*>(old)) {
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// value should be a number. If not throws YAML::BadConversion
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p->setValue(node.as<double>());
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return;
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}
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if (rviz::StringProperty* p = dynamic_cast<rviz::StringProperty*>(old)) {
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// value should be an arbitrary string. If not throws YAML::BadConversion
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p->setValue(QString::fromStdString(node.as<std::string>()));
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return;
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}
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throw YAML::BadConversion();
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}
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// Update existing old rviz:Property or create a new one from scalar YAML node
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rviz::Property* createFromScalar(const QString& name, const QString& description,
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const YAML::Node& node, rviz::Property* old)
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{
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while (old) { // reuse existing Property?
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try {
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// try to update value, expecting matching rviz::Property
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setScalarValue(old, node);
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// only if setScalarValue succeeded, also update the rest
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old->setName(name);
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old->setDescription(description);
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return old;
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} catch (const YAML::BadConversion&) {
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break; // on error, break from loop and create a new property
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}
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}
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// if value is a number, create a FloatProperty
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try { return new rviz::FloatProperty(name, node.as<double>(), description); }
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catch (const YAML::BadConversion&) {}
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// otherwise create a StringProperty
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return new rviz::StringProperty(name, QString::fromStdString(node.as<std::string>()), description);
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}
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// Create a scalar YAML node with given content value
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YAML::Node dummyNode(const std::string& content) {
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YAML::Node dummy;
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dummy=content;
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return dummy;
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}
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// forward declaration
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rviz::Property* createFromNode(const QString& name, const QString& description,
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const YAML::Node& node, rviz::Property* old);
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// Reuse old property (or create new one) as parent for a sequence or map
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rviz::Property* createParent(const QString& name, const QString& description, rviz::Property* old)
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{
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// don't reuse float or string properties (they are for scalars)
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if (dynamic_cast<rviz::FloatProperty*>(old) ||
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dynamic_cast<rviz::StringProperty*>(old))
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old = nullptr;
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if (!old)
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old = new rviz::Property(name, description);
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else {
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old->setName(name);
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old->setDescription(description);
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}
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return old;
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}
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// Hierarchically create property from YAML map node
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rviz::Property* createFromMap(const QString& name, const QString& description,
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const YAML::Node& node, rviz::Property* root)
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{
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root = createParent(name, description, root);
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int index = 0; // current child index in root
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for(YAML::const_iterator it=node.begin(); it!=node.end(); ++it) {
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QString child_name = QString::fromStdString(it->first.as<std::string>());
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int num = root->numChildren();
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// find first child with name >= it->name
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int next = index;
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while (next < num && root->childAt(next)->getName() < child_name)
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++next;
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// and remove all children in range [index, next) at once
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root->removeChildren(index, next-index);
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num = root->numChildren();
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// if names differ, insert a new child, otherwise reuse existing
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rviz::Property *old_child = index < num ? root->childAt(index) : nullptr;
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if (old_child && old_child->getName() != child_name)
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old_child = nullptr;
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rviz::Property *new_child = createFromNode(child_name, "", it->second, old_child);
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if (new_child != old_child)
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root->addChild(new_child, index);
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++index;
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}
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// remove remaining children
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root->removeChildren(index, root->numChildren()-index);
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return root;
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}
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// Hierarchically create property from YAML sequence node. Items are named [#].
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rviz::Property* createFromSequence(const QString& name, const QString& description,
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const YAML::Node& node, rviz::Property* root)
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{
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root = createParent(name, description, root);
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int index = 0; // current child index in root
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for (YAML::const_iterator it=node.begin(); it != node.end(); ++it) {
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rviz::Property *old_child = root->childAt(index); // nullptr for invalid index
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rviz::Property *new_child = createFromNode(QString("[%1]").arg(index), "", *it, old_child);
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if (new_child != old_child)
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root->addChild(new_child, index);
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if (++index >= 10)
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break; // limit number of entries
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}
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// remove remaining children
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root->removeChildren(index, root->numChildren()-index);
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return root;
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}
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// Create a property from any YAML node.
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rviz::Property* createFromNode(const QString& name, const QString& description,
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const YAML::Node& node, rviz::Property* old)
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{
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rviz::Property* result = nullptr;
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switch(node.Type()) {
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case YAML::NodeType::Scalar: result = createFromScalar(name, description, node, old); break;
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case YAML::NodeType::Sequence: result = createFromSequence(name, description, node, old); break;
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case YAML::NodeType::Map: result = createFromMap(name, description, node, old); break;
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case YAML::NodeType::Null: result = createFromScalar(name, description, dummyNode("undefined"), old); break;
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default: result = createFromScalar(name, description, dummyNode("unknown YAML node"), old); break;
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}
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result->setReadOnly(true);
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return result;
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}
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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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rviz::Property* old)
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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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try {
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return createFromNode(qname, qdesc, YAML::Load(value), old);
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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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}
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}
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}
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