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add external properties to SolutionInfo #194

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add external properties to SolutionInfo #194

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7139e99
add properties to SolutionInfo
v4hn Jul 30, 2020
5646ecf
move typed getters to Property & drop fallback interface
v4hn Apr 7, 2021
3277abf
add PropertyMap -> vector<Msg> interface
v4hn Apr 7, 2021
ac22156
do not allow write-access to default value
v4hn Apr 7, 2021
476424d
lipstick
v4hn Apr 7, 2021
5d419bd
working implementation for deserialization
v4hn Apr 7, 2021
fb0fa19
[POC] add message property as rviz property
v4hn Sep 9, 2021
bee6265
Simplify definition of PropertySerializer<T>
rhaschke Sep 10, 2021
09d2978
Skip Base64 encoding
rhaschke Sep 10, 2021
0d3ce1d
Correctly define serialization for std::map<std::string, double>
rhaschke Sep 10, 2021
4b8957c
Back to has*Operator<T>
rhaschke Sep 10, 2021
45935c0
Fix precision issue for floating-point types
rhaschke Sep 10, 2021
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205 changes: 78 additions & 127 deletions core/include/moveit/task_constructor/properties.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,10 @@
#include <vector>
#include <functional>
#include <sstream>
#include <ros/serialization.h>

#include <moveit_task_constructor_msgs/Property.h>

#include "properties/serialize.hpp"

namespace moveit {
namespace task_constructor {
Expand Down Expand Up @@ -81,13 +84,40 @@ class Property
Property();

/// base class for Property exceptions
class error;
class error : public std::runtime_error
{
protected:
std::string property_name_;
std::string msg_;

public:
explicit error(const std::string& msg);
const std::string& name() const { return property_name_; }
void setName(const std::string& name);
const char* what() const noexcept override { return msg_.c_str(); }
};

/// exception thrown when accessing an undeclared property
class undeclared;
class undeclared : public Property::error
{
public:
explicit undeclared(const std::string& name);
};

/// exception thrown when accessing an undefined property
class undefined;
class undefined : public Property::error
{
public:
explicit undefined();
explicit undefined(const std::string& name);
};

/// exception thrown when trying to set a value not matching the declared type
class type_error;
class type_error : public Property::error
{
public:
explicit type_error(const std::string& current_type, const std::string& declared_type);
};

using SourceFlags = uint;
/// function callback used to initialize property value from another PropertyMap
Expand All @@ -101,18 +131,39 @@ class Property
/// reset to default value (which can be empty)
void reset();

/// the current value defined or will the fallback be used?
inline bool defined() const { return !value_.empty(); }
/// is a value defined?
inline bool defined() const { return !(value_.empty() && default_.empty()); }
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Here you change the semantics of defined()!
I guess you want to distinguish isDefined() from isSet() == hasCurrentValue()?
Let's discuss the naming over phone...


/// is a non-default value set?
inline bool hasCurrentValue() const { return !value_.empty(); }

/// get current value (or default if not defined)
/// get current value (or default if not set)
inline const boost::any& value() const { return value_.empty() ? default_ : value_; }
inline boost::any& value() { return value_.empty() ? default_ : value_; }

/// get typed value of property. Throws bad_any_cast on type mismatch, undefined if !defined().
template <typename T>
inline const T& value() const {
const boost::any& v{ value() };
if (v.empty())
throw Property::undefined();
return boost::any_cast<const T&>(value());
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Suggested change
return boost::any_cast<const T&>(value());
return boost::any_cast<const T&>(v);

See also my comment on PropertyMap::get().

}

/// get default value
const boost::any& defaultValue() const { return default_; }
const boost::any& currentValue() const { return value_; }
boost::any& currentValue() { return value_; };

/// serialize value using registered functions
static std::string serialize(const boost::any& value);
static boost::any deserialize(const std::string& type_name, const std::string& wire);

template <typename T>
static T deserialize(const moveit_task_constructor_msgs::Property& property_msg) {
PropertySerializer<T>();
return boost::any_cast<T>(deserialize(property_msg.type, property_msg.value));
}

std::string serialize() const { return serialize(value()); }

/// get description text
Expand All @@ -130,6 +181,12 @@ class Property
/// configure initialization from source using given other property name
Property& configureInitFrom(SourceFlags source, const std::string& name);

void fillMsg(moveit_task_constructor_msgs::Property& msg) const {
msg.description = description();
msg.type = typeName();
msg.value = serialize();
}

private:
std::string description_;
const type_info& type_info_;
Expand All @@ -142,112 +199,6 @@ class Property
InitializerFunction initializer_;
};

class Property::error : public std::runtime_error
{
protected:
std::string property_name_;
std::string msg_;

public:
explicit error(const std::string& msg);
const std::string& name() const { return property_name_; }
void setName(const std::string& name);
const char* what() const noexcept override { return msg_.c_str(); }
};
class Property::undeclared : public Property::error
{
public:
explicit undeclared(const std::string& name, const std::string& msg = "undeclared");
};
class Property::undefined : public Property::error
{
public:
explicit undefined(const std::string& name, const std::string& msg = "undefined");
};
class Property::type_error : public Property::error
{
public:
explicit type_error(const std::string& current_type, const std::string& declared_type);
};

// hasSerialize<T>::value provides a true/false constexpr depending on whether operator<< is supported.
// This uses SFINAE, extracted from https://jguegant.github.io/blogs/tech/sfinae-introduction.html
template <typename T, typename = std::ostream&>
struct hasSerialize : std::false_type
{};

template <typename T>
struct hasSerialize<T, decltype(std::declval<std::ostream&>() << std::declval<T>())> : std::true_type
{};

template <typename T, typename = std::istream&>
struct hasDeserialize : std::false_type
{};

template <typename T>
struct hasDeserialize<T, decltype(std::declval<std::istream&>() >> std::declval<T&>())> : std::true_type
{};

class PropertySerializerBase
{
public:
using SerializeFunction = std::string (*)(const boost::any&);
using DeserializeFunction = boost::any (*)(const std::string&);

static std::string dummySerialize(const boost::any& /*unused*/) { return ""; }
static boost::any dummyDeserialize(const std::string& /*unused*/) { return boost::any(); }

protected:
static bool insert(const std::type_index& type_index, const std::string& type_name, SerializeFunction serialize,
DeserializeFunction deserialize);
};

/// utility class to register serializer/deserializer functions for a property of type T
template <typename T>
class PropertySerializer : protected PropertySerializerBase
{
public:
PropertySerializer() { insert(typeid(T), typeName<T>(), &serialize, &deserialize); }

template <class Q = T>
static typename std::enable_if<ros::message_traits::IsMessage<Q>::value, std::string>::type typeName() {
return ros::message_traits::DataType<T>::value();
}

template <class Q = T>
static typename std::enable_if<!ros::message_traits::IsMessage<Q>::value, std::string>::type typeName() {
return typeid(T).name();
}

private:
/** Serialization based on std::[io]stringstream */
template <class Q = T>
static typename std::enable_if<hasSerialize<Q>::value, std::string>::type serialize(const boost::any& value) {
std::ostringstream oss;
oss << boost::any_cast<T>(value);
return oss.str();
}
template <class Q = T>
static typename std::enable_if<hasSerialize<Q>::value && hasDeserialize<Q>::value, boost::any>::type
deserialize(const std::string& wired) {
std::istringstream iss(wired);
T value;
iss >> value;
return value;
}

/** No serialization available */
template <class Q = T>
static typename std::enable_if<!hasSerialize<Q>::value, std::string>::type serialize(const boost::any& value) {
return dummySerialize(value);
}
template <class Q = T>
static typename std::enable_if<!hasSerialize<Q>::value || !hasDeserialize<Q>::value, boost::any>::type
deserialize(const std::string& wire) {
return dummyDeserialize(wire);
}
};

/** PropertyMap is map of (name, Property) pairs.
*
* Conveniency methods are provided to setup property initialization for several
Expand Down Expand Up @@ -288,18 +239,22 @@ class PropertyMap
Property& property(const std::string& name);
const Property& property(const std::string& name) const { return const_cast<PropertyMap*>(this)->property(name); }

void fillMsgs(std::vector<moveit_task_constructor_msgs::Property>& msgs) const;
void fromMsgs(std::vector<moveit_task_constructor_msgs::Property>& msgs);

using iterator = std::map<std::string, Property>::iterator;
using const_iterator = std::map<std::string, Property>::const_iterator;

iterator begin() { return props_.begin(); }
iterator end() { return props_.end(); }
const_iterator begin() const { return props_.begin(); }
const_iterator end() const { return props_.end(); }
size_t size() const { return props_.size(); }

/// allow initialization from given source for listed properties - always using the same name
void configureInitFrom(Property::SourceFlags source, const std::set<std::string>& properties = {});

/// set (and, if neccessary, declare) the value of a property
/// set (and, if necessary, declare) the value of a property
template <typename T>
void set(const std::string& name, const T& value) {
auto it = props_.find(name);
Expand All @@ -318,19 +273,15 @@ class PropertyMap
/// Get the value of a property. Throws undeclared if unknown name
const boost::any& get(const std::string& name) const;

/// Get typed value of property. Throws undeclared, undefined, or bad_any_cast.
/// Get typed value of property. Throws undeclared or bad_any_cast.
template <typename T>
const T& get(const std::string& name) const {
const boost::any& value = get(name);
if (value.empty())
throw Property::undefined(name);
return boost::any_cast<const T&>(value);
}
/// get typed value of property, using fallback if undefined. Throws bad_any_cast on type mismatch.
template <typename T>
const T& get(const std::string& name, const T& fallback) const {
const boost::any& value = get(name);
return (value.empty()) ? fallback : boost::any_cast<const T&>(value);
try {
return property(name).value<T>();
} catch (Property::undefined& e) {
e.setName(name);
throw e;
Comment on lines +281 to +283
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Catching and rethrowing is more costly than the previous version of testing and throwing only once.

}
}

/// count number of defined properties from given list
Expand Down
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