Merge pull request #288 from dic-iit/parameterHandler/clone

Implement clone method in ParametersHandler classes

CHANGELOG.md

@@ -29,6 +29,7 @@ All notable changes to this project are documented in this file.
 - Implement TaskSpaceInverseDynamics interface (https://github.com/dic-iit/bipedal-locomotion-framework/pull/279)
 - Implement `Wrench` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/279)
 - Implement `SO3Task` in `TSID` component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/281)
+- Implement clone method in ParametersHandler classes (https://github.com/dic-iit/bipedal-locomotion-framework/pull/288)
 
 ### Changed
 - Move all the Contacts related classes in Contacts component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/204)

src/ParametersHandler/YarpImplementation/CMakeLists.txt

@@ -8,7 +8,7 @@ if(FRAMEWORK_COMPILE_YarpImplementation)
  NAME ParametersHandlerYarpImplementation
  SOURCES src/YarpImplementation.cpp
  PUBLIC_HEADERS include/BipedalLocomotion/ParametersHandler/YarpImplementation.h include/BipedalLocomotion/ParametersHandler/YarpImplementation.tpp
- PUBLIC_LINK_LIBRARIES BipedalLocomotion::ParametersHandler BipedalLocomotion::YarpUtilities YARP::YARP_os
+ PUBLIC_LINK_LIBRARIES BipedalLocomotion::ParametersHandler BipedalLocomotion::YarpUtilities YARP::YARP_os BipedalLocomotion::TextLogging
  INSTALLATION_FOLDER ParametersHandler)
 
 endif()

src/ParametersHandler/YarpImplementation/include/BipedalLocomotion/ParametersHandler/YarpImplementation.h

@@ -54,6 +54,13 @@ class YarpImplementation : public IParametersHandler
  */
  template <typename T>
  void setParameterPrivate(const std::string& parameterName, const T& parameter);
+
+ /**
+ * Clone the content of the handler
+ * @return A pointer to YarpImplementation containing the content of the handler.
+ */
+ std::shared_ptr<YarpImplementation> clonePrivate() const;
+
 public:
  /**
  * Constructor.
@@ -235,6 +242,13 @@ class YarpImplementation : public IParametersHandler
  */
  void clear() final;
 
+ /**
+ * Clone the content of the content.
+ * @return a IParametersHandler::shared_ptr clone of the current handler.
+ * @warning
+ */
+ shared_ptr clone() const final;
+
  /**
  * Destructor
  */

src/ParametersHandler/YarpImplementation/src/YarpImplementation.cpp

@@ -11,6 +11,7 @@
 #include <string>
 
 #include <BipedalLocomotion/ParametersHandler/YarpImplementation.h>
+#include <BipedalLocomotion/TextLogging/Logger.h>
 
 using namespace BipedalLocomotion::ParametersHandler;
 
@@ -159,9 +160,9 @@ bool YarpImplementation::setGroup(const std::string& name, IParametersHandler::s
  // m_container
  if (downcastedPtr == nullptr)
  {
- std::cerr << "[YarpImplementation::setGroup] Unable to downcast the pointer to "
- "YarpImplementation."
- << std::endl;
+ log()->error("[YarpImplementation::setGroup] Unable to downcast the pointer to "
+ "YarpImplementation.");
+
  return false;
  }
 
@@ -201,3 +202,21 @@ void YarpImplementation::clear()
  m_container.clear();
  m_lists.clear();
 }
+
+std::shared_ptr<YarpImplementation> YarpImplementation::clonePrivate() const
+{
+ auto handler = std::make_shared<YarpImplementation>();
+
+ // copy the content of the parameters stored in the handler.
+ handler->m_container = this->m_container;
+
+ for (const auto& [key, value] : m_lists)
+ handler->m_lists[key] = value->clonePrivate();
+
+ return handler;
+}
+
+IParametersHandler::shared_ptr YarpImplementation::clone() const
+{
+ return this->clonePrivate();
+}

src/ParametersHandler/include/BipedalLocomotion/ParametersHandler/IParametersHandler.h

@@ -12,8 +12,8 @@
 #include <string>
 #include <vector>
 
-#include <BipedalLocomotion/GenericContainer/Vector.h>
 #include <BipedalLocomotion/GenericContainer/TemplateHelpers.h>
+#include <BipedalLocomotion/GenericContainer/Vector.h>
 
 namespace BipedalLocomotion
 {
@@ -26,7 +26,6 @@ namespace ParametersHandler
 class IParametersHandler
 {
 public:
-
  using unique_ptr = std::unique_ptr<IParametersHandler>;
 
  using shared_ptr = std::shared_ptr<IParametersHandler>;
@@ -72,31 +71,35 @@ class IParametersHandler
  * @param parameter parameter
  * @return true/false in case of success/failure
  */
- virtual bool getParameter(const std::string& parameterName, std::vector<bool>& parameter) const = 0;
+ virtual bool getParameter(const std::string& parameterName, //
+ std::vector<bool>& parameter) const = 0;
 
  /**
  * Get a parameter [GenericContainer::Vector<int>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  * @return true/false in case of success/failure
  */
- virtual bool getParameter(const std::string& parameterName, GenericContainer::Vector<int>::Ref parameter) const = 0;
+ virtual bool getParameter(const std::string& parameterName,
+ GenericContainer::Vector<int>::Ref parameter) const = 0;
 
  /**
  * Get a parameter [GenericContainer::Vector<double>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  * @return true/false in case of success/failure
  */
- virtual bool getParameter(const std::string& parameterName, GenericContainer::Vector<double>::Ref parameter) const = 0;
+ virtual bool getParameter(const std::string& parameterName,
+ GenericContainer::Vector<double>::Ref parameter) const = 0;
 
  /**
  * Get a parameter [GenericContainer::Vector<std::string>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  * @return true/false in case of success/failure
  */
- virtual bool getParameter(const std::string& parameterName, GenericContainer::Vector<std::string>::Ref parameter) const = 0;
+ virtual bool getParameter(const std::string& parameterName,
+ GenericContainer::Vector<std::string>::Ref parameter) const = 0;
 
  /**
  * Set a parameter [int]
@@ -135,34 +138,40 @@ class IParametersHandler
  */
  virtual void setParameter(const std::string& parameterName, const bool& parameter) = 0;
 
-
  /**
  * Set a parameter [std::vector<bool>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  */
- virtual void setParameter(const std::string& parameterName, const std::vector<bool>& parameter) = 0;
+ virtual void setParameter(const std::string& parameterName, const std::vector<bool>& parameter)
+ = 0;
 
  /**
  * Set a parameter [GenericContainer::Vector<int>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  */
- virtual void setParameter(const std::string& parameterName, const GenericContainer::Vector<const int>::Ref parameter) = 0;
+ virtual void setParameter(const std::string& parameterName,
+ const GenericContainer::Vector<const int>::Ref parameter)
+ = 0;
 
  /**
  * Set a parameter [GenericContainer::Vector<double>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  */
- virtual void setParameter(const std::string& parameterName, const GenericContainer::Vector<const double>::Ref parameter) = 0;
+ virtual void setParameter(const std::string& parameterName,
+ const GenericContainer::Vector<const double>::Ref parameter)
+ = 0;
 
  /**
  * Set a parameter [GenericContainer::Vector<std::string>]
  * @param parameterName name of the parameter
  * @param parameter parameter
  */
- virtual void setParameter(const std::string& parameterName, const GenericContainer::Vector<const std::string>::Ref parameter) = 0;
+ virtual void setParameter(const std::string& parameterName,
+ const GenericContainer::Vector<const std::string>::Ref parameter)
+ = 0;
 
  /**
  * Get a Group from the handler.
@@ -207,11 +216,18 @@ class IParametersHandler
  */
  virtual void clear() = 0;
 
+ /**
+ * Clone the content of the content.
+ * @return a IParametersHandler::shared_ptr clone of the current handler.
+ * @warning Please implement the specific version of this method in the Derived class. Please
+ * check YarpImplementation::clone
+ */
+ virtual shared_ptr clone() const = 0;
+
  /**
  * Destructor
  */
  virtual ~IParametersHandler() = default;
-
 };
 } // namespace ParametersHandler
 } // namespace BipedalLocomotion

src/ParametersHandler/include/BipedalLocomotion/ParametersHandler/StdImplementation.h

@@ -231,6 +231,12 @@ class StdImplementation : public IParametersHandler
  */
  void clear() final;
 
+ /**
+ * Clone the content of the content.
+ * @return a IParametersHandler::shared_ptr clone of the current handler.
+ */
+ shared_ptr clone() const final;
+
  ~StdImplementation() = default;
 };
 } // namespace ParametersHandler

src/ParametersHandler/src/StdImplementation.cpp

@@ -169,3 +169,13 @@ void StdImplementation::clear()
 {
  m_map.clear();
 }
+
+IParametersHandler::shared_ptr StdImplementation::clone() const
+{
+ auto handler = std::make_shared<StdImplementation>();
+
+ // copy the content of the parameters stored in the handler.
+ handler->m_map = this->m_map;
+
+ return handler;
+}

src/ParametersHandler/tests/ParametersHandlerTest.cpp

@@ -112,4 +112,38 @@ TEST_CASE("Get parameters")
  parameterHandler->clear();
  REQUIRE(parameterHandler->isEmpty());
  }
+
+ SECTION("Clone")
+ {
+ auto newHandler = parameterHandler->clone();
+ REQUIRE_FALSE(newHandler->isEmpty());
+
+ SECTION("Get integer")
+ {
+ int element;
+ REQUIRE(newHandler->getParameter("answer_to_the_ultimate_question_of_life", element));
+ REQUIRE(element == 42);
+ }
+
+ SECTION("Get Double")
+ {
+ double element;
+ REQUIRE(newHandler->getParameter("pi", element));
+ REQUIRE(element == 3.14);
+ }
+
+ SECTION("Get String")
+ {
+ std::string element;
+ REQUIRE(newHandler->getParameter("John", element));
+ REQUIRE(element == "Smith");
+ }
+
+ SECTION("Get Vector")
+ {
+ std::vector<int> element;
+ REQUIRE(newHandler->getParameter("Fibonacci Numbers", element));
+ REQUIRE(element == std::vector<int>{1, 1, 2, 3, 5, 8, 13, 21});
+ }
+ }
 }

src/ParametersHandler/tests/ParametersHandlerYarpTest.cpp

@@ -204,4 +204,52 @@ TEST_CASE("Get parameters")
  }
  }
 
+ SECTION("Clone")
+ {
+ IParametersHandler::shared_ptr setGroup = std::make_shared<YarpImplementation>();
+ REQUIRE(parameterHandler->setGroup("CARTOONS", setGroup));
+ auto groupHandler = parameterHandler->getGroup("CARTOONS").lock(); //now the pointer should be lockable
+ REQUIRE(groupHandler);
+ REQUIRE(groupHandler->isEmpty());
+
+ groupHandler->setParameter("Donald's nephews", donaldsNephews);
+
+ auto newHandler = parameterHandler->clone();
+
+ SECTION("Get integer")
+ {
+ int element;
+ REQUIRE(newHandler->getParameter("answer_to_the_ultimate_question_of_life", element));
+ REQUIRE(element == 42);
+ }
+
+ SECTION("Get Double")
+ {
+ double element;
+ REQUIRE(newHandler->getParameter("pi", element));
+ REQUIRE(element == 3.14);
+ }
+
+ SECTION("Get String")
+ {
+ std::string element;
+ REQUIRE(newHandler->getParameter("John", element));
+ REQUIRE(element == "Smith");
+ }
+
+ SECTION("Get Vector")
+ {
+ std::vector<int> element;
+ REQUIRE(newHandler->getParameter("Fibonacci Numbers", element));
+ REQUIRE(element == fibonacciNumbers);
+ }
+
+ SECTION("Get group")
+ {
+ std::vector<std::string> element;
+ REQUIRE(newHandler->getGroup("CARTOONS").lock()->getParameter("Donald's nephews",//
+ element));
+ REQUIRE(element == donaldsNephews);
+ }
+ }
 }

src/YarpUtilities/CMakeLists.txt

@@ -9,7 +9,7 @@ if(FRAMEWORK_COMPILE_YarpUtilities)
  NAME YarpUtilities
  SOURCES src/Helper.cpp src/RosPublisher.cpp
  PUBLIC_HEADERS include/BipedalLocomotion/YarpUtilities/Helper.h include/BipedalLocomotion/YarpUtilities/Helper.tpp include/BipedalLocomotion/YarpUtilities/RosPublisher.h
- PUBLIC_LINK_LIBRARIES ${YARP_LIBRARIES} ${iDynTree_LIBRARIES} BipedalLocomotion::GenericContainer BipedalLocomotion::ParametersHandler
+ PUBLIC_LINK_LIBRARIES ${YARP_LIBRARIES} ${iDynTree_LIBRARIES} BipedalLocomotion::GenericContainer BipedalLocomotion::ParametersHandler BipedalLocomotion::TextLogging
  SUBDIRECTORIES tests)
 
 endif()