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--[BUGFIX] Make sure empty Markerset subconfigs are removed when appr…
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…opriate (#2434)

* --make sure empty subconfigs are removed to minimize clutter in saved json.
* --cleanup configuration; handle get attempt from non-existing subconfig
     Instead of asserting, return a warning along with an empty vector <T> if the named subconfig is not found. This is consistent with the behavior of other indirect subconfig queries.
* --handle if the 'markers' subconfig does not exist in a MarkerSet
    It is possible to have a JSON marker set object associated with a link and task that lists no points. Due to the markersets being managed generically as nested configurations, with access accomplished via static casting, it is then possible to access a MarkerSet object that may not have a "markers" subconfig. This is a reasonable state, and should result in an assertion when attempting to query the MarkerSet.
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@jturner65
jturner65 authored Jul 24, 2024
1 parent 9d1fba2 commit 0b58d04
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Showing 2 changed files with 83 additions and 37 deletions.
62 changes: 34 additions & 28 deletions src/esp/core/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1220,21 +1220,21 @@ class Configuration {
/**
* @brief Templated subconfig copy getter. Retrieves a shared pointer to a
* copy of the subConfig @ref esp::core::config::Configuration that has the
* passed @p name .
* passed @p cfgName .
*
* @tparam Type to return. Must inherit from @ref
* esp::core::config::Configuration
* @param name The name of the Configuration to retrieve.
* @param cfgName The name of the Configuration to retrieve.
* @return A pointer to a copy of the Configuration having the requested
* name, cast to the appropriate type, or nullptr if not found.
*/

template <typename T>
std::shared_ptr<T> getSubconfigCopy(const std::string& name) const {
std::shared_ptr<T> getSubconfigCopy(const std::string& cfgName) const {
static_assert(std::is_base_of<Configuration, T>::value,
"Configuration : Desired subconfig must be derived from "
"core::config::Configuration");
auto configIter = configMap_.find(name);
auto configIter = configMap_.find(cfgName);
if (configIter != configMap_.end()) {
// if exists return copy, so that consumers can modify it freely
return std::make_shared<T>(
Expand All @@ -1244,91 +1244,92 @@ class Configuration {
}

/**
* @brief return pointer to read-only sub-Configuration of given @p name.
* @brief return pointer to read-only sub-Configuration of given @p cfgName.
* Will fail if Configuration with given name dne.
* @param name The name of the desired Configuration.
* @param cfgName The name of the desired Configuration.
*/
std::shared_ptr<const Configuration> getSubconfigView(
const std::string& name) const {
auto configIter = configMap_.find(name);
CORRADE_ASSERT(
configIter != configMap_.end(),
"SubConfiguration with name " << name << " not found in Configuration.",
nullptr);
const std::string& cfgName) const {
auto configIter = configMap_.find(cfgName);
CORRADE_ASSERT(configIter != configMap_.end(),
"SubConfiguration with name "
<< cfgName << " not found in Configuration.",
nullptr);
// if exists return actual object
return configIter->second;
}

/**
* @brief Templated Version. Retrieves the stored shared pointer to the
* subConfig @ref esp::core::config::Configuration that has the passed @p name
* subConfig @ref esp::core::config::Configuration that has the passed @p cfgName
* , cast to the specified type. This will create a shared pointer to a new
* sub-Configuration if none exists and return it, cast to specified type.
*
* Use this function when you wish to modify this Configuration's
* subgroup, possibly creating it in the process.
* @tparam The type to cast the @ref esp::core::config::Configuration to. Type
* is checked to verify that it inherits from Configuration.
* @param name The name of the Configuration to edit.
* @param cfgName The name of the Configuration to edit.
* @return The actual pointer to the Configuration having the requested
* name, cast to the specified type.
*/
template <typename T>
std::shared_ptr<T> editSubconfig(const std::string& name) {
std::shared_ptr<T> editSubconfig(const std::string& cfgName) {
static_assert(std::is_base_of<Configuration, T>::value,
"Configuration : Desired subconfig must be derived from "
"core::config::Configuration");
// retrieve existing (or create new) subgroup, with passed name
return std::static_pointer_cast<T>(
addOrEditSubgroup<T>(name).first->second);
addOrEditSubgroup<T>(cfgName).first->second);
}

/**
* @brief move specified subgroup config into configMap at desired name.
* Will replace any subConfiguration at given name without warning if
* present.
* @param name The name of the subConfiguration to add
* @param cfgName The name of the subConfiguration to add
* @param configPtr A pointer to a subConfiguration to add.
*/
template <typename T>
void setSubconfigPtr(const std::string& name, std::shared_ptr<T>& configPtr) {
void setSubconfigPtr(const std::string& cfgName,
std::shared_ptr<T>& configPtr) {
static_assert(std::is_base_of<Configuration, T>::value,
"Configuration : Desired subconfig must be derived from "
"core::config::Configuration");

configMap_[name] = std::move(configPtr);
configMap_[cfgName] = std::move(configPtr);
} // setSubconfigPtr

/**
* @brief Removes and returns the named subconfig. If not found, returns an
* empty subconfig with a warning.
* @param name The name of the subConfiguration to delete
* @param cfgName The name of the subConfiguration to delete
* @return a shared pointer to the removed subConfiguration.
*/
std::shared_ptr<Configuration> removeSubconfig(const std::string& name) {
ConfigMapType::const_iterator mapIter = configMap_.find(name);
std::shared_ptr<Configuration> removeSubconfig(const std::string& cfgName) {
ConfigMapType::const_iterator mapIter = configMap_.find(cfgName);
if (mapIter != configMap_.end()) {
configMap_.erase(mapIter);
return mapIter->second;
}
ESP_WARNING() << "Name :" << name
ESP_WARNING() << "Name :" << cfgName
<< "not present in map of subConfigurations.";
return {};
}

/**
* @brief Retrieve the number of entries held by the subconfig with the
* given name
* @param name The name of the subconfig to query. If not found, returns 0
* @param cfgName The name of the subconfig to query. If not found, returns 0
* with a warning.
* @return The number of entries in the named subconfig
*/
int getSubconfigNumEntries(const std::string& name) const {
auto configIter = configMap_.find(name);
int getSubconfigNumEntries(const std::string& cfgName) const {
auto configIter = configMap_.find(cfgName);
if (configIter != configMap_.end()) {
return configIter->second->getNumEntries();
}
ESP_WARNING() << "No Subconfig found named :" << name;
ESP_WARNING() << "No Subconfig found named :" << cfgName;
return 0;
}

Expand Down Expand Up @@ -1403,7 +1404,12 @@ class Configuration {
std::vector<T> getSubconfigValsOfTypeInVector(
const std::string& subCfgName) const {
const ConfigValType desiredType = configValTypeFor<T>();
const auto subCfg = getSubconfigView(subCfgName);
auto configIter = configMap_.find(subCfgName);
if (configIter == configMap_.end()) {
ESP_WARNING() << "No Subconfig found named :" << subCfgName;
return {};
}
const auto subCfg = configIter->second;
const auto& subCfgTags = subCfg->getKeysByType(desiredType, true);
std::vector<T> res;
res.reserve(subCfgTags.size());
Expand Down
58 changes: 49 additions & 9 deletions src/esp/metadata/attributes/MarkerSets.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,14 +26,24 @@ class MarkerSet : public esp::core::config::Configuration {
/**
* @brief Returns the number of existing marker points in this MarkerSet.
*/
int getNumPoints() const {
int getNumPoints() {
// the 'markers' subconfig may not exist due to how the MarkerSet hierarchy
// is loaded from JSON.
if (!hasSubconfig("markers")) {
return 0;
}
return getSubconfigView("markers")->getNumValues();
}

/**
* @brief Returns a list of all the marker points in this MarkerSet
*/
std::vector<Mn::Vector3> getAllPoints() const {
// the 'markers' subconfig may not exist due to how the MarkerSet hierarchy
// is loaded from JSON.
if (!hasSubconfig("markers")) {
return {};
}
return getSubconfigValsOfTypeInVector<Mn::Vector3>("markers");
}

Expand All @@ -51,6 +61,7 @@ class MarkerSet : public esp::core::config::Configuration {
*/
int rekeyAllMarkers() { return rekeySubconfigValues("markers"); }

public:
ESP_SMART_POINTERS(MarkerSet)
}; // class MarkerSet

Expand Down Expand Up @@ -134,7 +145,11 @@ class LinkSet : public esp::core::config::Configuration {
*/
void setMarkerSetPoints(const std::string& markerSetName,
const std::vector<Mn::Vector3>& markerList) {
editMarkerSet(markerSetName)->setAllPoints(markerList);
if (markerList.size() == 0) {
removeMarkerSet(markerSetName);
} else {
editMarkerSet(markerSetName)->setAllPoints(markerList);
}
}

/**
Expand Down Expand Up @@ -310,7 +325,12 @@ class TaskSet : public esp::core::config::Configuration {
void setLinkMarkerSetPoints(const std::string& linkSetName,
const std::string& markerSetName,
const std::vector<Mn::Vector3>& markerList) {
editLinkSet(linkSetName)->setMarkerSetPoints(markerSetName, markerList);
auto linkSet = editLinkSet(linkSetName);
linkSet->setMarkerSetPoints(markerSetName, markerList);
// The above may result in the link set being empty. If so remove it.
if (linkSet->getNumMarkerSets() == 0) {
removeLinkSet(linkSetName);
}
}

/**
Expand All @@ -325,7 +345,12 @@ class TaskSet : public esp::core::config::Configuration {
const std::string& linkSetName,
const std::unordered_map<std::string, std::vector<Mn::Vector3>>&
markers) {
editLinkSet(linkSetName)->setAllMarkerPoints(markers);
auto linkSet = editLinkSet(linkSetName);
linkSet->setAllMarkerPoints(markers);
// The above may result in the link set being empty. If so remove it.
if (linkSet->getNumMarkerSets() == 0) {
removeLinkSet(linkSetName);
}
}

/**
Expand Down Expand Up @@ -542,7 +567,6 @@ class MarkerSets : public esp::core::config::Configuration {
* @param linkSetName the name of the LinkSet within @p taskSetName
* @param markerSetName the name of the MarkerSet within @p linkSetName
*/

void initTaskLinkMarkerSet(const std::string& taskSetName,
const std::string& linkSetName,
const std::string& markerSetName) {
Expand All @@ -561,8 +585,12 @@ class MarkerSets : public esp::core::config::Configuration {
const std::string& linkSetName,
const std::string& markerSetName,
const std::vector<Mn::Vector3>& markerList) {
editTaskSet(taskSetName)
->setLinkMarkerSetPoints(linkSetName, markerSetName, markerList);
auto taskSetPtr = editTaskSet(taskSetName);
taskSetPtr->setLinkMarkerSetPoints(linkSetName, markerSetName, markerList);
// After this process, the taskset might be empty, if so, delete it.
if (taskSetPtr->getNumLinkSets() == 0) {
removeTaskSet(taskSetName);
}
}

/**
Expand All @@ -579,7 +607,12 @@ class MarkerSets : public esp::core::config::Configuration {
const std::string& linkSetName,
const std::unordered_map<std::string, std::vector<Mn::Vector3>>&
markerMap) {
editTaskSet(taskSetName)->setLinkSetPoints(linkSetName, markerMap);
auto taskSetPtr = editTaskSet(taskSetName);
taskSetPtr->setLinkSetPoints(linkSetName, markerMap);
// After this process, the taskset might be empty, if so, delete it.
if (taskSetPtr->getNumLinkSets() == 0) {
removeTaskSet(taskSetName);
}
}

/**
Expand All @@ -595,7 +628,14 @@ class MarkerSets : public esp::core::config::Configuration {
std::string,
std::unordered_map<std::string, std::vector<Mn::Vector3>>>&
markerMap) {
editTaskSet(taskSetName)->setAllMarkerPoints(markerMap);
auto taskSetPtr = editTaskSet(taskSetName);
for (const auto& markers : markerMap) {
taskSetPtr->setLinkSetPoints(markers.first, markers.second);
}
// After this process, the taskset might be empty, if so, delete it.
if (taskSetPtr->getNumLinkSets() == 0) {
removeTaskSet(taskSetName);
}
}

/**
Expand Down

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