From fb32f562eb8e8fdfd8f3e66d3382e8c86cdae5e1 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Fri, 4 Nov 2022 18:19:41 +0100
Subject: [PATCH] Add PropertyHelper Factories and Products
---
.../AronComponentConfigExample.cpp | 4 +
.../aron_component_config/CMakeLists.txt | 2 +
.../PropertyDefinitionVisitors.cpp | 141 ++++++------------
.../PropertyHelper.cpp | 137 +++++++++++++++++
.../TypeDescriptorFactories/PropertyHelper.h | 110 ++++++++++++++
5 files changed, 297 insertions(+), 97 deletions(-)
create mode 100644 source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.cpp
create mode 100644 source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.h
diff --git a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
index 2f5095b5b..683fcef10 100644
--- a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
+++ b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
@@ -57,6 +57,10 @@ namespace armarx
ARMARX_TRACE;
auto& config =
aron_component_config_plugin_->config_.getWriteBuffer();
+ for (const auto& [key, value] : config.subMember.subsubMember.intDictMember)
+ {
+ ARMARX_INFO << key << value;
+ }
config.intMember--;
aron_component_config_plugin_->config_.commitWrite();
}, 1000);
diff --git a/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
index f9e545e5c..cc784baff 100644
--- a/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
@@ -29,6 +29,7 @@ set(LIBS
set(LIB_FILES
PropertyDefinitionVisitors.cpp
RemoteGuiVisitors.cpp
+ TypeDescriptorFactories/PropertyHelper.cpp
)
set(LIB_HEADERS
@@ -37,6 +38,7 @@ set(LIB_HEADERS
RemoteGuiVisitors.h
Util.h
ComponentPlugin.h
+ TypeDescriptorFactories/PropertyHelper.h
)
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
index bf606b399..94bb96597 100644
--- a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/application/properties/PropertyDefinition.h>
#include <ArmarXCore/core/application/properties/PropertyUser.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.h>
#include "Util.h"
@@ -89,8 +90,13 @@ namespace armarx::aron::component_config
void
PropertyDefinitionGetterVisitor::visitListOnEnter(DataInput& o, TypeInput& t)
{
+ in_list_ = true;
const auto& name = pathToName(o);
- const auto& type = type::List::DynamicCast(t);
+ const auto& t_desc = type::List::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (t_desc == type::Descriptor::OBJECT)
+ {
+ return;
+ }
auto old_list = data::List::DynamicCast(o);
old_list->clear();
auto get_list = [this, & name]() -> std::vector<std::string>
@@ -100,32 +106,15 @@ namespace armarx::aron::component_config
return simox::alg::split(list, ",");
};
int i = 0;
- switch (type->getAcceptedType()->getDescriptor())
+ std::vector<std::string> vector = get_list();
+ std::for_each(vector.begin(), vector.end(), [&old_list, &i, &t_desc](const auto& el)
{
- case type::Descriptor::INT:
- {
- std::vector<std::string> vector = get_list();
- std::for_each(vector.begin(), vector.end(), [&old_list, &i](const auto& el)
- {
- old_list->addElement(make_int(std::stoi(el), old_list->getPath().withIndex(i)));
- i++;
- });
- break;
- }
- case type::Descriptor::STRING:
- {
- std::vector<std::string> vector = get_list();
- std::for_each(vector.begin(), vector.end(), [&old_list, &i](const auto& el)
- {
- old_list->addElement(make_string(el, old_list->getPath().withIndex(i)));
- i++;
- });
- break;
- }
- default:
- throw armarx::NotImplementedYetException();
- }
- in_list_ = true;
+ old_list->addElement(factories::PropertyHelper::make(t_desc)->from_string(el,
+ old_list->getPath()
+ .withIndex(i)));
+ i++;
+ });
+
}
void
@@ -159,10 +148,15 @@ namespace armarx::aron::component_config
PropertyDefinitionGetterVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,
const std::shared_ptr<type::Variant>& t)
{
+ in_list_ = true;
const auto& name = pathToName(o);
- const auto& type = type::Dict::DynamicCast(t);
- auto old_list = data::Dict::DynamicCast(o);
- old_list->clear();
+ const auto& t_desc = type::Dict::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (t_desc == type::Descriptor::OBJECT)
+ {
+ return;
+ }
+ auto old_dict = data::Dict::DynamicCast(o);
+ old_dict->clear();
auto get_list = [this, & name]() -> std::vector<std::string>
{
std::string list;
@@ -170,34 +164,14 @@ namespace armarx::aron::component_config
return simox::alg::split(list, ",");
};
std::vector<std::string> vector = get_list();
- switch (type->getAcceptedType()->getDescriptor())
+ std::for_each(vector.begin(), vector.end(), [&old_dict, &t_desc](const auto& el)
{
- case type::Descriptor::INT:
- {
- std::for_each(vector.begin(), vector.end(), [&old_list](const auto& el)
- {
- auto key_value = simox::alg::split(el, ":");
- old_list->addElement(key_value.front(),
- make_int(std::stoi(key_value.back()),
- old_list->getPath().withElement(key_value.front())));
- });
- break;
- }
- case type::Descriptor::STRING:
- {
- std::for_each(vector.begin(), vector.end(), [&old_list](const auto& el)
- {
- auto key_value = simox::alg::split(el, ":");
- old_list->addElement(key_value.front(),
- make_string(key_value.back(),
- old_list->getPath().withElement(key_value.front())));
- });
- break;
- }
- default:
- throw armarx::NotImplementedYetException();
- }
- in_list_ = true;
+ auto key_value = simox::alg::split(el, ":");
+ old_dict->addElement(key_value.front(),
+ factories::PropertyHelper::make(t_desc)->from_string(key_value.back(),
+ old_dict->getPath()
+ .withElement(key_value.front())));
+ });
}
void
@@ -303,34 +277,18 @@ namespace armarx::aron::component_config
in_list_ = true;
const auto& name = pathToName(l);
const auto& t_desc = t->getAcceptedType()->getDescriptor();
+ if (t_desc == type::Descriptor::OBJECT)
+ {
+ return;
+ }
const auto& input = l->getElements();
std::string str;
- switch (t_desc)
+ std::vector<std::string> vector;
+ std::transform(input.begin(), input.end(), std::back_inserter(vector), [&t_desc](const auto& el)
{
- case type::Descriptor::INT:
- {
- std::vector<int> vector;
- std::transform(input.begin(), input.end(), std::back_inserter(vector), [](const auto& el)
- {
- return data::Int::DynamicCast(el)->getValue();
- });
- str = simox::alg::to_string(vector, ", ");
- break;
- }
- case type::Descriptor::STRING:
- {
- std::vector<std::string> vector;
- std::transform(input.begin(), input.end(), std::back_inserter(vector), [](const auto& el)
- {
- return data::String::DynamicCast(el)->getValue();
- });
- str = simox::alg::to_string(vector, ", ");
- break;
- }
- // TODO: other basic types
- default:
- throw armarx::NotImplementedYetException();
- }
+ return factories::PropertyHelper::make(t_desc)->to_string(el);
+ });
+ str = simox::alg::to_string(vector, ", ");
property_definitions_->defineOptionalProperty<std::string>(name, str);
}
@@ -346,27 +304,16 @@ namespace armarx::aron::component_config
in_list_ = true;
const auto& name = pathToName(d);
const auto& t_desc = t->getAcceptedType()->getDescriptor();
+ if (t_desc == type::Descriptor::OBJECT)
+ {
+ return;
+ }
const auto& input = d->getElements();
std::stringstream ss;
for (const auto& [key, el]: input)
{
ss << key << ":";
- switch (t_desc)
- {
- case type::Descriptor::INT:
- {
- ss << data::Int::DynamicCast(el)->getValue();
- break;
- }
- case type::Descriptor::STRING:
- {
- ss << data::String::DynamicCast(el)->getValue();
- break;
- }
- // TODO: other basic types
- default:
- throw armarx::NotImplementedYetException();
- }
+ ss << factories::PropertyHelper::make(t_desc)->to_string(el);
ss << ",";
}
std::string value = ss.str();
diff --git a/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.cpp b/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.cpp
new file mode 100644
index 000000000..14771c282
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.cpp
@@ -0,0 +1,137 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 04.11.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include "PropertyHelper.h"
+
+namespace armarx::aron::component_config::products
+{
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::INT>::to_string(const data::VariantPtr& ptr) const
+ {
+ return simox::alg::to_string(data::Int::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::BOOL>::to_string(const data::VariantPtr& ptr) const
+ {
+ return simox::alg::to_string(data::Bool::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::STRING>::to_string(const data::VariantPtr& ptr) const
+ {
+ return data::String::DynamicCast(ptr)->getValue();
+ }
+
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::FLOAT>::to_string(const data::VariantPtr& ptr) const
+ {
+ return simox::alg::to_string(data::Float::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::INT_ENUM>::to_string(const data::VariantPtr& ptr) const
+ {
+ // TODO: this is should use the name of the enum value
+ return simox::alg::to_string(data::Int::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ PropertyHelper<type::Descriptor::DOUBLE>::to_string(const data::VariantPtr& ptr) const
+ {
+ return simox::alg::to_string(data::Double::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::INT>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ return make_int(std::stoi(string), path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::FLOAT>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ return make_float(std::stof(string), path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::DOUBLE>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ return make_double(std::stod(string), path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::BOOL>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ if (string == "true")
+ {
+ return make_bool(true, path);
+ }
+ else if (string == "false")
+ {
+ return make_bool(false, path);
+ }
+ throw armarx::InvalidArgumentException("Boolean string has to be either true or false");
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::INT_ENUM>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ // TODO: this might not work
+ return make_int(std::stoi(string), path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::STRING>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ return make_string(string, path);
+ }
+
+
+
+ template struct products::PropertyHelper<type::Descriptor::INT>;
+ template struct products::PropertyHelper<type::Descriptor::STRING>;
+ template struct products::PropertyHelper<type::Descriptor::BOOL>;
+ template struct products::PropertyHelper<type::Descriptor::FLOAT>;
+ template struct products::PropertyHelper<type::Descriptor::DOUBLE>;
+ template struct products::PropertyHelper<type::Descriptor::INT_ENUM>;
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.h b/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.h
new file mode 100644
index 000000000..cfb5ef2ba
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/TypeDescriptorFactories/PropertyHelper.h
@@ -0,0 +1,110 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 04.11.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/util/CPPUtility/SelfRegisteringFactory.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <RobotAPI/libraries/aron/core/data/variant/Variant.h>
+
+namespace armarx::aron::component_config
+{
+ namespace factories
+ {
+ struct PropertyHelper : armarx::Factory<PropertyHelper, type::Descriptor>
+ {
+ explicit PropertyHelper(Key)
+ {
+ };
+
+ virtual ~PropertyHelper() = default;
+
+ virtual std::string to_string(const armarx::aron::data::VariantPtr&) const = 0;
+ virtual aron::data::VariantPtr from_string(const std::string&, const armarx::aron::Path& path) const = 0;
+ };
+ }
+ namespace products
+ {
+ template <type::Descriptor DescT>
+ struct PropertyHelper : factories::PropertyHelper::Registrar<PropertyHelper<DescT>>
+ {
+ using RegistrarT = factories::PropertyHelper::Registrar<PropertyHelper<DescT>>;
+ static constexpr type::Descriptor id = DescT;
+
+ explicit PropertyHelper() : RegistrarT(typename RegistrarT::Registration())
+ {
+ };
+
+ [[nodiscard]] std::string to_string(const data::VariantPtr& ptr) const override;
+ [[nodiscard]] aron::data::VariantPtr from_string(const std::string&, const armarx::aron::Path& path) const override;
+ };
+
+
+ }
+
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::INT>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::INT>::from_string(const std::string&, const armarx::aron::Path& path) const;
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::FLOAT>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::FLOAT>::from_string(const std::string&, const armarx::aron::Path& path) const;
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::BOOL>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::BOOL>::from_string(const std::string&, const armarx::aron::Path& path) const;
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::STRING>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::STRING>::from_string(const std::string&, const armarx::aron::Path& path) const;
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::DOUBLE>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::DOUBLE>::from_string(const std::string&, const armarx::aron::Path& path) const;
+ template <>
+ std::string
+ products::PropertyHelper<type::Descriptor::INT_ENUM>::to_string(const data::VariantPtr& ptr) const;
+ template <>
+ aron::data::VariantPtr
+ products::PropertyHelper<type::Descriptor::INT_ENUM>::from_string(const std::string&, const armarx::aron::Path& path) const;
+
+
+ extern template struct products::PropertyHelper<type::Descriptor::INT>;
+ extern template struct products::PropertyHelper<type::Descriptor::FLOAT>;
+ extern template struct products::PropertyHelper<type::Descriptor::DOUBLE>;
+ extern template struct products::PropertyHelper<type::Descriptor::STRING>;
+ extern template struct products::PropertyHelper<type::Descriptor::BOOL>;
+ extern template struct products::PropertyHelper<type::Descriptor::INT_ENUM>;
+}
+
--
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