xml_testdata_loader.h

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/*
 * Copyright (c) 2018 Pilz GmbH & Co. KG
 *
 * 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 XML_TESTDATA_LOADER_H
#define XML_TESTDATA_LOADER_H

#include <string>
#include <vector>
#include <functional>
#include <map>
#include <memory>

#include <boost/property_tree/ptree.hpp>

#include "pilz_industrial_motion_testutils/testdata_loader.h"

namespace pt = boost::property_tree;
namespace pilz_industrial_motion_testutils
{
class XmlTestdataLoader : public TestdataLoader
{
public:
  XmlTestdataLoader(const std::string& path_filename);
  XmlTestdataLoader(const std::string& path_filename, const moveit::core::RobotModelConstPtr& robot_model);
  ~XmlTestdataLoader();

public:
  virtual JointConfiguration getJoints(const std::string& pos_name, const std::string& group_name) const override;

  virtual CartesianConfiguration getPose(const std::string& pos_name, const std::string& group_name) const override;

  virtual PtpJoint getPtpJoint(const std::string& cmd_name) const override;
  virtual PtpCart getPtpCart(const std::string& cmd_name) const override;
  virtual PtpJointCart getPtpJointCart(const std::string& cmd_name) const override;

  virtual LinJoint getLinJoint(const std::string& cmd_name) const override;
  virtual LinCart getLinCart(const std::string& cmd_name) const override;
  virtual LinJointCart getLinJointCart(const std::string& cmd_name) const override;

  virtual CircCenterCart getCircCartCenterCart(const std::string& cmd_name) const override;
  virtual CircInterimCart getCircCartInterimCart(const std::string& cmd_name) const override;
  virtual CircJointCenterCart getCircJointCenterCart(const std::string& cmd_name) const override;
  virtual CircJointInterimCart getCircJointInterimCart(const std::string& cmd_name) const override;

  virtual Sequence getSequence(const std::string& cmd_name) const override;

  virtual Gripper getGripper(const std::string& cmd_name) const override;

private:
  const pt::ptree::value_type& findNodeWithName(const boost::property_tree::ptree& tree,
                                                const std::string& name,
                                                const std::string& key,
                                                const std::string& path = "") const;

  const pt::ptree::value_type& findCmd(const std::string& cmd_name,
                                       const std::string& cmd_path,
                                       const std::string& cmd_key) const;

  CartesianCenter getCartesianCenter(const std::string& cmd_name, const std::string& planning_group) const;

  CartesianInterim getCartesianInterim(const std::string& cmd_name, const std::string& planning_group) const;

private:
  JointConfiguration getJoints(const boost::property_tree::ptree& joints_tree, const std::string& group_name) const;

private:
  inline static std::vector<double> strVec2doubleVec(std::vector<std::string>& strVec);

public:
  class AbstractCmdGetterAdapter
  {
  public:
    virtual CmdVariant getCmd(const std::string& /*cmd_name*/) const = 0;
    virtual ~AbstractCmdGetterAdapter() = default;
  };

private:
  std::string path_filename_;
  pt::ptree tree_{};

  using AbstractCmdGetterUPtr = std::unique_ptr<AbstractCmdGetterAdapter>;

  std::map<std::string, AbstractCmdGetterUPtr> cmd_getter_funcs_;

private:
  const pt::ptree::value_type empty_value_type_{};
  const pt::ptree empty_tree_{};
};

std::vector<double> XmlTestdataLoader::strVec2doubleVec(std::vector<std::string>& strVec)
{
  std::vector<double> vec;

  vec.resize(strVec.size());
  std::transform(strVec.begin(), strVec.end(), vec.begin(), [](const std::string& val) { return std::stod(val); });

  return vec;
}

using XmlTestDataLoaderUPtr = std::unique_ptr<TestdataLoader>;

}  // namespace pilz_industrial_motion_testutils

#endif  // XML_TESTDATA_LOADER_H