Merge branch 'json-io'

VirtualRobot/CMakeLists.txt

@@ -353,6 +353,7 @@ SET(SOURCES
     Tools/Gravity.cpp
     
     Util/json/eigen_conversion.cpp
+    Util/json/io.cpp
     Util/xml/tinyxml2.cpp
     
     Visualization/ColorMap.cpp
@@ -573,8 +574,10 @@ SET(INCLUDES
     
     Transformation/DHParameter.h
     
+    Util/json.h
     Util/json/eigen_conversion.h
     Util/json/eigen_conversion.hpp
+    Util/json/io.h
     Util/json/json.hpp
     Util/xml/tinyxml2.h
     

VirtualRobot/Util/json.h

+#pragma once
+
+#include "json/json.hpp"
+#include "json/eigen_conversion.h"
+#include "json/io.h"

VirtualRobot/Util/json/io.cpp

+#include "io.h"
+
+#include <iostream>
+#include <fstream>
+
+
+namespace nlohmann
+{
+
+    json read_json(const std::string& filename)
+    {
+        std::ifstream ifs;
+        // Allow throwing std::ios_base::failure.
+        ifs.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+        
+        ifs.open(filename);
+        json j;
+        ifs >> j;
+        return j;
+    }
+    
+    void write_json(const std::string& filename, const json& j,
+                    const int indent, const char indent_char)
+    {
+        std::ofstream ofs;
+        // Allow throwing std::ios_base::failure.
+        ofs.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+        
+        ofs.open(filename);
+        ofs << j.dump(indent, indent_char);
+    }
+
+}
+
+

VirtualRobot/Util/json/io.h

+#pragma once
+
+#include "json.hpp"
+
+
+namespace nlohmann
+{
+
+    /**
+     * @brief Read a JSON document from the given file.
+     * 
+     * @param filename The name of the file to read from.
+     * @return The JSON document.
+     * 
+     * @throw std::ios_base::failure If IO access fails.
+     */
+    json read_json(const std::string& filename);
+    
+    
+    /**
+     * @brief Write a JSON document to the given file. 
+     * 
+     * @param j The JSON document.
+     * @param filename The name of the file to write to.
+     * @param indent See nlohmann::json::dump().
+     * @param indent_char See nlohmann::json::dump().
+     * 
+     * @throw std::ios_base::failure If IO access fails.
+     */
+    void write_json(const std::string& filename, const json& j,
+                    const int indent = -1, const char indent_char = ' ');
+
+
+}

VirtualRobot/tests/CMakeLists.txt

@@ -34,6 +34,8 @@ ADD_VR_TEST( VirtualRobotTimeOptimalTrajectoryTest )
 ADD_VR_TEST( VirtualRobotRuntimeEnvironmentTest )
 
 ADD_VR_TEST( VirtualRobotJsonEigenConversionTest )
+ADD_VR_TEST( VirtualRobotJsonIOTest )
+
 ADD_VR_TEST( VirtualRobotMjcfTest )
 
 

VirtualRobot/tests/VirtualRobotJsonIOTest.cpp

+/**
+* @package    VirtualRobot
+* @author     Rainer Kartmann
+* @copyright  2018 Rainer Kartmann
+*/
+
+#define BOOST_TEST_MODULE VirtualRobot_VirtualRobotJsonIOTest
+
+#include <VirtualRobot/VirtualRobotTest.h>
+
+#include <filesystem>
+
+#include <VirtualRobot/Util/json/io.h>
+
+
+namespace fs = std::filesystem;
+
+struct Fixture
+{
+    const std::string FILENAME = "JsonIOTest.json";
+    
+    nlohmann::json testj;
+    
+    
+    Fixture()
+    {
+        testj["s"] = "answer";
+        testj["i"] = 42;
+        
+        if (fs::is_regular_file(FILENAME))
+        {
+            fs::remove(FILENAME);
+        }
+    }
+    ~Fixture()
+    {
+        if (fs::is_regular_file(FILENAME))
+        {
+            fs::remove(FILENAME);
+        }
+    }
+};
+
+
+BOOST_FIXTURE_TEST_SUITE(VirtualRobotIOConversionTest, Fixture)
+
+
+BOOST_AUTO_TEST_CASE(test_read_json_existent)
+{
+    // Write the JSON file.
+    {
+        std::ofstream ofs(FILENAME);
+        ofs << testj.dump();
+        // Ensure file exists.
+    }
+    BOOST_CHECK(fs::exists(FILENAME));
+    
+    // Test reading.
+    const nlohmann::json j = nlohmann::read_json(FILENAME);
+    
+    BOOST_CHECK_EQUAL(j, testj);
+    BOOST_CHECK_EQUAL(j.at("s").get<std::string>(), testj.at("s").get<std::string>());
+    BOOST_CHECK_EQUAL(j.at("i").get<int>(), testj.at("i").get<int>());
+}
+
+
+BOOST_AUTO_TEST_CASE(test_read_json_nonexistent)
+{
+    // Ensure file does not exist.
+    BOOST_CHECK(!fs::exists(FILENAME));
+    
+    // Test reading.
+    nlohmann::json j;
+    BOOST_CHECK_THROW(j = nlohmann::read_json(FILENAME), std::ios_base::failure);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_write_json_valid)
+{
+    // Ensure file does not exist.
+    BOOST_CHECK(!fs::exists(FILENAME));
+    
+    // Test writing.
+    nlohmann::write_json(FILENAME, testj);
+    // Check that something has been written.
+    BOOST_CHECK(fs::exists(FILENAME));
+}
+
+
+BOOST_AUTO_TEST_CASE(test_write_json_invalid)
+{
+    BOOST_CHECK(!fs::exists(FILENAME));
+    
+    // Make it a directory, i.e. not writable.
+    fs::create_directory(FILENAME);
+    BOOST_CHECK(fs::exists(FILENAME));
+    
+    // Test writing.
+    BOOST_CHECK_THROW(nlohmann::write_json(FILENAME, testj);, std::ios_base::failure);
+    
+    // Clean up.
+    fs::remove(FILENAME);
+    BOOST_CHECK(!fs::exists(FILENAME));
+}
+
+
+BOOST_AUTO_TEST_CASE(test_read_after_write_json)
+{
+    // Ensure file does not exist.
+    BOOST_CHECK(!fs::exists(FILENAME));
+    
+    // Test writing.
+    nlohmann::write_json(FILENAME, testj);
+    
+    // Test reading.
+    nlohmann::json j;
+    BOOST_CHECK_NO_THROW(j = nlohmann::read_json(FILENAME));
+    
+    BOOST_CHECK_EQUAL(j, testj);
+    BOOST_CHECK_EQUAL(j.at("s").get<std::string>(), testj.at("s").get<std::string>());
+    BOOST_CHECK_EQUAL(j.at("i").get<int>(), testj.at("i").get<int>());
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()