From c3c893229b3bbe71e1eac3afcd3c69271a56b823 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 27 May 2020 11:19:35 +0200
Subject: [PATCH] Add class ObjectID, which does parsing of ID strings
---
.../libraries/ArmarXObjects/CMakeLists.txt | 6 +-
.../libraries/ArmarXObjects/ObjectFinder.cpp | 19 ++----
.../libraries/ArmarXObjects/ObjectFinder.h | 1 +
.../libraries/ArmarXObjects/ObjectID.cpp | 52 ++++++++++++++
.../libraries/ArmarXObjects/ObjectID.h | 68 +++++++++++++++++++
.../libraries/ArmarXObjects/ObjectInfo.cpp | 34 ++++++----
.../libraries/ArmarXObjects/ObjectInfo.h | 11 ++-
7 files changed, 161 insertions(+), 30 deletions(-)
create mode 100644 source/RobotAPI/libraries/ArmarXObjects/ObjectID.cpp
create mode 100644 source/RobotAPI/libraries/ArmarXObjects/ObjectID.h
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index c819dd3e7..07ae9ab2f 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -10,14 +10,16 @@ set(LIBS
set(LIB_FILES
ArmarXObjects.cpp
- ObjectFinder.cpp
+ ObjectID.cpp
ObjectInfo.cpp
+ ObjectFinder.cpp
)
set(LIB_HEADERS
ArmarXObjects.h
- ObjectFinder.h
+ ObjectID.h
ObjectInfo.h
+ ObjectFinder.h
)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index b7a74d925..28634f811 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -4,7 +4,6 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/util/StringHelpers.h>
namespace armarx
@@ -67,18 +66,12 @@ namespace armarx
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& nameOrID) const
{
- init();
- if (nameOrID.find("/") != nameOrID.npos)
- {
- const std::vector<std::string> split = armarx::split(nameOrID, "/", true);
- ARMARX_CHECK_EQUAL(split.size(), 2) << "Expected ID of format 'Dataset/Name', but got: '" << nameOrID
- << "' (too many '/').";
- return findObject(split[0], split[1]);
- }
- else
- {
- return findObject("", nameOrID);
- }
+ return findObject(ObjectID(nameOrID));
+ }
+
+ std::optional<ObjectInfo> ObjectFinder::findObject(const ObjectID& id) const
+ {
+ return findObject(id.dataset(), id.name());
}
std::vector<std::string> ObjectFinder::getDatasets() const
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index e7f3170c1..80907d7b4 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -25,6 +25,7 @@ namespace armarx
std::optional<ObjectInfo> findObject(const std::string& dataset, const std::string& name) const;
std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
+ std::optional<ObjectInfo> findObject(const ObjectID& id) const;
std::vector<std::string> getDatasets() const;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectID.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectID.cpp
new file mode 100644
index 000000000..f24af1a92
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectID.cpp
@@ -0,0 +1,52 @@
+#include "ObjectID.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/util/StringHelpers.h>
+
+
+namespace armarx
+{
+ ObjectID::ObjectID()
+ {
+ }
+
+ ObjectID::ObjectID(const std::string& dataset, const std::string& name) :
+ _dataset(dataset), _name(name)
+ {
+ }
+
+ ObjectID::ObjectID(const std::string& nameOrID)
+ {
+ if (nameOrID.find("/") != nameOrID.npos)
+ {
+ const std::vector<std::string> split = armarx::split(nameOrID, "/", true);
+ ARMARX_CHECK_EQUAL(split.size(), 2) << "Expected ID of format 'Dataset/Name', but got: '" << nameOrID
+ << "' (too many '/').";
+ _dataset = split[0];
+ _name = split[1];
+ }
+ else
+ {
+ // dataset is left empty.
+ _name = nameOrID;
+ }
+ }
+
+ bool ObjectID::operator==(const ObjectID& rhs) const
+ {
+ return _name == rhs._name && _dataset == rhs._dataset;
+ }
+
+ bool ObjectID::operator<(const ObjectID& rhs) const
+ {
+ return _dataset < rhs._dataset
+ || (_dataset == rhs._dataset && _name < rhs._name);
+ }
+
+}
+
+
+std::ostream& armarx::operator<<(std::ostream& os, const ObjectID& id)
+{
+ return os << "'" << id.str() << "'";
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectID.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectID.h
new file mode 100644
index 000000000..437bbaa88
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectID.h
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <string>
+
+
+namespace armarx
+{
+ /**
+ * @brief A known object ID of the form "Dataset/Name".
+ */
+ class ObjectID
+ {
+ public:
+
+ ObjectID();
+ ObjectID(const std::string& dataset, const std::string& name);
+ /// Construct from either a name ("myobject") or ID ("mydataset/myobject").
+ ObjectID(const std::string& nameOrID);
+
+
+ std::string dataset() const
+ {
+ return _dataset;
+ }
+ std::string name() const
+ {
+ return _name;
+ }
+ /// Return "dataset/name".
+ std::string str() const
+ {
+ return _dataset + "/" + _name;
+ }
+
+ bool operator==(const ObjectID& rhs) const;
+ inline bool operator!=(const ObjectID& rhs) const
+ {
+ return !operator==(rhs);
+ }
+ bool operator< (const ObjectID& rhs) const;
+ inline bool operator> (const ObjectID& rhs) const
+ {
+ return rhs < (*this);
+ }
+ inline bool operator<=(const ObjectID& rhs) const
+ {
+ return !operator> (rhs);
+ }
+ inline bool operator>=(const ObjectID& rhs) const
+ {
+ return !operator< (rhs);
+ }
+
+
+ private:
+
+ std::string _dataset;
+ std::string _name;
+
+ };
+
+ std::ostream& operator<<(std::ostream& os, const ObjectID& rhs);
+
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
index 421f3b5d0..c4696ece6 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -12,9 +12,15 @@ namespace armarx
namespace fs = std::filesystem;
+ ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
+ const ObjectID& id) :
+ _packageName(packageName), _packageDataDir(packageDataDir), _id(id)
+ {
+ }
+
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
const std::string& dataset, const std::string& name) :
- _packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
+ _packageName(packageName), _packageDataDir(packageDataDir), _id(dataset, name)
{
}
@@ -25,22 +31,27 @@ namespace armarx
std::string ObjectInfo::dataset() const
{
- return _dataset;
+ return _id.dataset();
}
std::string ObjectInfo::name() const
{
- return _name;
+ return _id.name();
+ }
+
+ ObjectID ObjectInfo::id() const
+ {
+ return _id;
}
- std::string ObjectInfo::id() const
+ std::string ObjectInfo::idStr() const
{
- return _dataset + "/" + _name;
+ return _id.str();
}
ObjectInfo::path ObjectInfo::objectDirectory() const
{
- return path(_packageName) / _dataset / _name;
+ return path(_packageName) / _id.dataset() / _id.name();
}
PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
@@ -50,7 +61,7 @@ namespace armarx
{
extension = "." + extension;
}
- std::string filename = _name + suffix + extension;
+ std::string filename = _id.name() + suffix + extension;
PackageFileLocation loc;
loc.package = _packageName;
@@ -138,11 +149,10 @@ namespace armarx
}
-namespace armarx
+
+std::ostream& armarx::operator<<(std::ostream& os, const ObjectInfo& rhs)
{
- std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
- {
- return os << "'" << rhs.id() << "'";
- }
+ return os << rhs.id();
}
+
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 0fd1ef032..61cfea4a7 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -3,6 +3,8 @@
#include <filesystem>
#include <string>
+#include "ObjectID.h"
+
namespace simox
{
@@ -37,9 +39,12 @@ namespace armarx
public:
+ ObjectInfo(const std::string& packageName, const path& packageDataDir,
+ const ObjectID& id);
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const std::string& dataset, const std::string& name);
+
virtual ~ObjectInfo() = default;
@@ -48,7 +53,8 @@ namespace armarx
std::string dataset() const;
std::string name() const;
/// Return "dataset/name".
- std::string id() const;
+ ObjectID id() const;
+ std::string idStr() const;
PackageFileLocation file(const std::string& extension, const std::string& suffix = "") const;
@@ -79,8 +85,7 @@ namespace armarx
std::string _packageName;
path _packageDataDir;
- std::string _dataset;
- std::string _name;
+ ObjectID _id;
};
--
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