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/*
* Copyright (C) 2021 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 TOML_PARSER_HH_
#define TOML_PARSER_HH_
#include <map>
#include <string>
#include <variant>
#include "sdf/Param.hh"
// This is a very basic toml parser for use in the interface_api integration
// test and is not capable of parsing the full toml syntax. Specifically, this
// parser does not support arrays and inline tables. It also only knows of only
// a small set of value types.
namespace toml
{
std::string appendPrefix(const std::string &_input)
{
return _input;
}
template <typename T, typename... Args>
std::string appendPrefix(
const std::string &_prefix, const T &_key, Args... others)
{
if (_prefix.empty())
return appendPrefix(_key, others...);
return appendPrefix(_prefix + '.' + _key, others...);
}
std::string keyType(const std::string &_key)
{
if (_key == "pose")
return "pose";
else if (_key == "static")
return "bool";
return "string";
}
// A struct is needed to create a recursive std::variant based data structure
struct Value
{
using KeyValue = std::map<std::string, Value>;
using VariantType = std::variant<KeyValue, sdf::Param>;
VariantType data;
public: KeyValue &Map()
{
return std::get<KeyValue>(this->data);
}
public: template <typename T>
T ParamGet(const T &_defaultVal = T {})
{
T out{_defaultVal};
if (auto param = std::get_if<sdf::Param>(&this->data))
{
param->Get(out);
}
return out;
}
public: Value &operator[](const std::string &_key)
{
auto keys = sdf::split(_key, ".");
Value *curValue = &(this->Map()[keys[0]]);
for (std::size_t i = 1; i < keys.size(); ++i)
{
if (auto kval = std::get_if<KeyValue>(&curValue->data))
{
curValue = &kval->operator[](keys[i]);
}
else
{
throw std::runtime_error("Unable to find key [" + _key + "]");
}
}
return *curValue;
}
public: void PrintValue(std::ostream &os, const std::string &_key) const
{
std::visit(
[&](auto &&arg)
{
using T = std::decay_t<decltype(arg)>;
// cppcheck-suppress syntaxError
// cppcheck-suppress unmatchedSuppression
if constexpr (std::is_same_v<T, sdf::Param>)
{
os << _key << " = " << arg << std::endl;
}
else if constexpr (std::is_same_v<T, Value::KeyValue>)
{
for (const auto &[key, val] : arg)
{
val.PrintValue(os, appendPrefix(_key, key));
}
}
},
data);
}
friend std::ostream& operator<<(std::ostream& os, const Value &_value)
{
_value.PrintValue(os, "");
return os;
}
};
struct Document: public Value
{
Document()
: Value({Value::KeyValue()})
{
}
};
Document parseToml(const std::string &_filePath, sdf::Errors &_errors)
{
std::fstream fs;
fs.open(_filePath);
if (!fs.good())
{
_errors.emplace_back(sdf::ErrorCode::FILE_READ,
"File [" + _filePath + "] could not be read.");
return {};
}
Document doc;
auto readValue = [](const std::string &_inp)
{
const std::string trimmed = sdf::trim(_inp);
// Find the quotes
auto begInd = trimmed.find('"');
auto endInd = trimmed.rfind('"');
return trimmed.substr(begInd + 1, endInd - 1);
};
auto readTableName = [](const std::string &_inp)
{
const std::string trimmed = sdf::trim(_inp);
// Find the quotes
auto begInd = trimmed.find('[');
auto endInd = trimmed.rfind(']');
return trimmed.substr(begInd + 1, endInd - 1);
};
std::string curPrefix = "";
std::string line;
while (std::getline(fs, line))
{
sdf::trim(line);
if (line.empty() || line[0] == '#' )
{
continue;
}
else
{
std::size_t eqInd = line.find('=');
if (eqInd != std::string::npos)
{
const std::string key = sdf::trim(line.substr(0, eqInd));
const std::string value = readValue(line.substr(eqInd + 1));
sdf::Param param(key, keyType(key), "", true);
param.SetFromString(value);
doc[appendPrefix(curPrefix, key)] = {param};
}
else if (line.find('[') != std::string::npos)
{
const std::string tableName = readTableName(line);
if (tableName.empty())
{
throw std::runtime_error("Empty table name encountered");
}
else
{
curPrefix = tableName;
}
}
}
}
fs.close();
return doc;
}
} // namespace toml
#endif
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