Param.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef SDFORMAT_PARAM_HH_
#define SDFORMAT_PARAM_HH_
 
#include <any>
#include <algorithm>
#include <cctype>
#include <cstdint>
#include <functional>
#include <iomanip>
#include <limits>
#include <memory>
#include <optional>
#include <sstream>
#include <string>
#include <typeinfo>
#include <variant>
#include <vector>
 
#include <gz/math/Angle.hh>
#include <gz/math/Color.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Quaternion.hh>
#include <gz/math/Vector2.hh>
#include <gz/math/Vector3.hh>
 
#include "sdf/Console.hh"
#include "sdf/PrintConfig.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
#include "sdf/Types.hh"
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  class SDFORMAT_VISIBLE Element;
  using ElementPtr = std::shared_ptr<Element>;
  using ElementWeakPtr = std::weak_ptr<Element>;
 
  class SDFORMAT_VISIBLE Param;
 
  typedef std::shared_ptr<Param> ParamPtr;
 
  typedef std::vector<ParamPtr> Param_V;
 
  class ParamPrivate;
 
  template<class T>
  struct ParamStreamer
  {
    const T &val;
    const int precision;  // Used to set std::ostream's std::setprecision
    explicit ParamStreamer(const T &_val, int _precision = 0)
       : val(_val), precision(_precision) {}
  };
 
  // Template deduction guide for ParamVariant
  template<typename ParamVariant>
  ParamStreamer(const ParamVariant &_val, int _precision)
    -> ParamStreamer<ParamVariant>;
 
  template<class T>
  std::ostream& operator<<(std::ostream &os, ParamStreamer<T> s)
  {
    if (s.precision == std::numeric_limits<int>::max())
    {
      if constexpr (std::is_same_v<T, double>
                    || std::is_same_v<T, gz::math::Angle>
                    || std::is_same_v<T, gz::math::Vector2d>
                    || std::is_same_v<T, gz::math::Vector3d>
                    || std::is_same_v<T, gz::math::Quaterniond>
                    || std::is_same_v<T, gz::math::Pose3d>)
      {
        os << std::setprecision(std::numeric_limits<double>::max_digits10);
      }
      else if constexpr (std::is_same_v<T, float>
                         || std::is_same_v<T, gz::math::Color>)
      {
        os << std::setprecision(std::numeric_limits<float>::max_digits10);
      }
    }
    else
    {
      os << std::setprecision(s.precision);
    }
 
    os << s.val;
    return os;
  }
 
  template<class... Ts>
  std::ostream& operator<<(std::ostream& os,
                           ParamStreamer<std::variant<Ts...>> sv)
  {
    std::visit([&os, &sv](auto const &v)
      {
        os << ParamStreamer{v, sv.precision};
      }, sv.val);
    return os;
  }
 
  class SDFORMAT_VISIBLE Param
  {
    public: Param(const std::string &_key, const std::string &_typeName,
                  const std::string &_default, bool _required,
                  const std::string &_description = "");
 
    public: Param(const std::string &_key, const std::string &_typeName,
                  const std::string &_default, bool _required,
                  sdf::Errors &_errors,
                  const std::string &_description = "");
 
    public: Param(const std::string &_key, const std::string &_typeName,
                  const std::string &_default, bool _required,
                  const std::string &_minValue, const std::string &_maxValue,
                  const std::string &_description = "");
 
    public: Param(const std::string &_key, const std::string &_typeName,
                  const std::string &_default, bool _required,
                  const std::string &_minValue, const std::string &_maxValue,
                  sdf::Errors &_errors,
                  const std::string &_description = "");
 
    public: Param(const Param &_param);
 
    public: Param(Param &&_param) noexcept = default;
 
    public: Param &operator=(const Param &_param);
 
    public: Param &operator=(Param &&_param) noexcept = default;
 
    public: virtual ~Param();
 
    public: std::string GetAsString(
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::string GetAsString(
        sdf::Errors &_errors,
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::string GetDefaultAsString(
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::string GetDefaultAsString(
        sdf::Errors &_errors,
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::optional<std::string> GetMinValueAsString(
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::optional<std::string> GetMinValueAsString(
        sdf::Errors &_errors,
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::optional<std::string> GetMaxValueAsString(
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::optional<std::string> GetMaxValueAsString(
        sdf::Errors &_errors,
        const PrintConfig &_config = PrintConfig()) const;
 
    public: bool SetFromString(const std::string &_value,
                               bool _ignoreParentAttributes);
 
    public: bool SetFromString(const std::string &_value,
                               bool _ignoreParentAttributes,
                               sdf::Errors &_errors);
 
    public: bool SetFromString(const std::string &_value);
 
    public: bool SetFromString(const std::string &_value,
                               sdf::Errors &_errors);
 
    public: ElementPtr GetParentElement() const;
 
    public: bool SetParentElement(ElementPtr _parentElement);
 
    public: bool SetParentElement(ElementPtr _parentElement,
                                  sdf::Errors &_errors);
 
    public: void Reset();
 
    public: bool Reparse();
 
    public: bool Reparse(sdf::Errors &_errors);
 
    public: const std::string &GetKey() const;
 
    public: template<typename Type>
            bool IsType() const;
 
    public: const std::string &GetTypeName() const;
 
    public: bool GetRequired() const;
 
    public: bool GetSet() const;
 
    public: bool IgnoresParentElementAttribute() const;
 
    public: ParamPtr Clone() const;
 
    public: template<typename T>
            void SetUpdateFunc(T _updateFunc);
 
    public: void Update();
 
    public: void Update(sdf::Errors &_errors);
 
    public: template<typename T>
            bool Set(const T &_value);
 
    public: template<typename T>
            bool Set(const T &_value,
                     sdf::Errors &_errors);
 
    public: bool GetAny(std::any &_anyVal) const;
 
    public: bool GetAny(std::any &_anyVal, sdf::Errors &_errors) const;
 
    public: template<typename T>
            bool Get(T &_value) const;
 
    public: template<typename T>
            bool Get(T &_value,
                     sdf::Errors &_errors) const;
 
    public: template<typename T>
            bool GetDefault(T &_value) const;
 
    public: template<typename T>
            bool GetDefault(T &_value,
                            sdf::Errors &_errors) const;
 
    public: void SetDescription(const std::string &_desc);
 
    public: std::string GetDescription() const;
 
    public: bool ValidateValue() const;
 
    public: bool ValidateValue(sdf::Errors &_errors) const;
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const Param &_p)
    {
      _out << _p.GetAsString();
      return _out;
    }
 
    private: std::unique_ptr<ParamPrivate> dataPtr;
  };
 
  class ParamPrivate
  {
    public: std::string key;
 
    public: bool required;
 
    public: bool set;
 
    public: std::string typeName;
 
    public: std::string description;
 
    public: ElementWeakPtr parentElement;
 
    public: std::function<std::any ()> updateFunc;
 
    public: typedef std::variant<bool, char, std::string, int, std::uint64_t,
                                   unsigned int, double, float, sdf::Time,
                                   gz::math::Angle,
                                   gz::math::Color,
                                   gz::math::Vector2i,
                                   gz::math::Vector2d,
                                   gz::math::Vector3d,
                                   gz::math::Quaterniond,
                                   gz::math::Pose3d> ParamVariant;
 
    public: ParamVariant value;
 
    public: bool ignoreParentAttributes;
 
    public: std::optional<std::string> strValue;
 
    public: std::string defaultStrValue;
 
    public: ParamVariant defaultValue;
 
    public: std::optional<ParamVariant> minValue;
 
    public: std::optional<ParamVariant> maxValue;
 
    public: void Init(const std::string &_key, const std::string &_typeName,
                const std::string &_default, bool _required,
                sdf::Errors &_errors,
                const std::string &_description);
 
    public: void Init(const std::string &_key, const std::string &_typeName,
                const std::string &_default, bool _required,
                const std::string &_minValue, const std::string &_maxValue,
                sdf::Errors &_errors,
                const std::string &_description);
 
    public: bool SDFORMAT_VISIBLE ValueFromStringImpl(
                                    const std::string &_typeName,
                                    const std::string &_valueStr,
                                    ParamVariant &_valueToSet,
                                    sdf::Errors &_errors) const;
 
    public: bool StringFromValueImpl(
                const PrintConfig &_config,
                const std::string &_typeName,
                const ParamVariant &_value,
                std::string &_valueStr,
                sdf::Errors &_errors) const;
 
    public: template<typename T>
            static std::string TypeToString();
  };
 
  template<typename T>
  std::string ParamPrivate::TypeToString()
  {
    // cppcheck-suppress syntaxError
    if constexpr (std::is_same_v<T, bool>)
      return "bool";
    else if constexpr (std::is_same_v<T, char>)
      return "char";
    else if constexpr (std::is_same_v<T, std::string>)
      return "string";
    else if constexpr (std::is_same_v<T, int>)
      return "int";
    else if constexpr (std::is_same_v<T, std::uint64_t>)
      return "uint64_t";
    else if constexpr (std::is_same_v<T, unsigned int>)
      return "unsigned int";
    else if constexpr (std::is_same_v<T, double>)
      return "double";
    else if constexpr (std::is_same_v<T, float>)
      return "float";
    else if constexpr (std::is_same_v<T, sdf::Time>)
      return "time";
    else if constexpr (std::is_same_v<T, gz::math::Angle>)
      return "angle";
    else if constexpr (std::is_same_v<T, gz::math::Color>)
      return "color";
    else if constexpr (std::is_same_v<T, gz::math::Vector2i>)
      return "vector2i";
    else if constexpr (std::is_same_v<T, gz::math::Vector2d>)
      return "vector2d";
    else if constexpr (std::is_same_v<T, gz::math::Vector3d>)
      return "vector3";
    else if constexpr (std::is_same_v<T, gz::math::Quaterniond>)
      return "quaternion";
    else if constexpr (std::is_same_v<T, gz::math::Pose3d>)
      return "pose";
    else
      return "";
  }
 
  template<typename T>
  void Param::SetUpdateFunc(T _updateFunc)
  {
    this->dataPtr->updateFunc = _updateFunc;
  }
 
  template<typename T>
  bool Param::Set(const T &_value)
  {
    sdf::Errors errors;
    bool result = this->Set<T>(_value, errors);
    if (!errors.empty())
      sdferr << errors;
    return result;
  }
 
  template<typename T>
  bool Param::Set(const T &_value, sdf::Errors &_errors)
  {
    try
    {
      std::stringstream ss;
      ss << ParamStreamer<T>{_value, std::numeric_limits<int>::max()};
      return this->SetFromString(ss.str(), true, _errors);
    }
    catch(...)
    {
      _errors.push_back({ErrorCode::PARAMETER_ERROR,
          "Unable to set parameter["
          + this->dataPtr->key + "]."
          + "Type used must have a stream input and output operator,"
          + "which allows proper functioning of Param."});
      return false;
    }
  }
 
  template<typename T>
  bool Param::Get(T &_value) const
  {
    sdf::Errors errors;
    bool result = this->Get<T>(_value, errors);
    if (!errors.empty())
      sdferr << errors;
    return result;
  }
 
  template<typename T>
  bool Param::Get(T &_value, sdf::Errors &_errors) const
  {
    T *value = std::get_if<T>(&this->dataPtr->value);
    if (value)
    {
      _value = *value;
    }
    else
    {
      std::string typeStr = this->dataPtr->TypeToString<T>();
      if (typeStr.empty())
      {
        _errors.push_back({ErrorCode::UNKNOWN_PARAMETER_TYPE,
            "Unknown parameter type[" + std::string(typeid(T).name()) + "]"});
        return false;
      }
 
      std::string valueStr = this->GetAsString(_errors);
      ParamPrivate::ParamVariant pv;
      bool success = this->dataPtr->ValueFromStringImpl(
          typeStr, valueStr, pv, _errors);
 
      if (success)
      {
        _value = std::get<T>(pv);
      }
      else if (typeStr == "bool" && this->dataPtr->typeName == "string")
      {
        // this section for handling bool types is to keep backward behavior
        // TODO(anyone) remove for Fortress. For more details:
        // https://github.com/gazebosim/sdformat/pull/638
        valueStr = lowercase(valueStr);
 
        std::stringstream tmp;
        if (valueStr == "true" || valueStr == "1")
          tmp << "1";
        else
          tmp << "0";
 
        tmp >> _value;
        return true;
      }
 
      return success;
    }
 
    return true;
  }
 
  template<typename T>
  bool Param::GetDefault(T &_value) const
  {
    sdf::Errors errors;
    bool result = this>GetDefault<T>(_value, errors);
    if (!errors.empty())
      sdferr << errors;
    return result;
  }
 
  template<typename T>
  bool Param::GetDefault(T &_value, sdf::Errors &_errors) const
  {
    std::stringstream ss;
 
    try
    {
      ss << ParamStreamer{this->dataPtr->defaultValue,
                          std::numeric_limits<int>::max()};
      ss >> _value;
    }
    catch(...)
    {
      _errors.push_back({ErrorCode::PARAMETER_ERROR,
          "Unable to convert parameter["
          + this->dataPtr->key + "] "
          + "whose type is["
          + this->dataPtr->typeName + "], to "
          + "type[" + typeid(T).name() + "]"});
      return false;
    }
 
    return true;
  }
 
  template<typename Type>
  bool Param::IsType() const
  {
    return std::holds_alternative<Type>(this->dataPtr->value);
  }
  }
}
 
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#endif