Skip to content

Commit 9ed68c5

Browse files
Levi-ArmstrongLevi-Armstrong
committed
fixup
1 parent 4d1d576 commit 9ed68c5

File tree

3 files changed

+56
-47
lines changed

3 files changed

+56
-47
lines changed

‎tesseract_common/include/tesseract_common/property_tree.h‎

Lines changed: 10 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -122,15 +122,23 @@ class PropertyTree
122122
* @param key Child identifier (string key).
123123
* @return Reference to the child PropertyTree.
124124
*/
125-
PropertyTree& get(std::string_view key);
125+
PropertyTree& operator[](std::string_view key);
126+
127+
/**
128+
* @brief Access a child node by key.
129+
* @param key Child identifier.
130+
* @return Reference to the child.
131+
* @throws std::out_of_range if key not found.
132+
*/
133+
PropertyTree& at(std::string_view key);
126134

127135
/**
128136
* @brief Access a child node by key (const).
129137
* @param key Child identifier.
130138
* @return Const reference to the child.
131139
* @throws std::out_of_range if key not found.
132140
*/
133-
const PropertyTree& get(std::string_view key) const;
141+
const PropertyTree& at(std::string_view key) const;
134142

135143
/**
136144
* @brief Find a child node without creating it.

‎tesseract_common/src/property_tree.cpp‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ void PropertyTree::mergeConfig(const YAML::Node& config, bool allow_extra_proper
5555
const auto& key = it->first.as<std::string>();
5656
if (children_.count(key) == 0)
5757
{
58-
auto& extra_node = get(key);
58+
auto& extra_node = (*this)[key];
5959
extra_node.setAttribute(EXTRA_KEY, YAML::Node(true));
6060
extra_node.mergeConfig(it->second, allow_extra_properties);
6161
}
@@ -114,7 +114,7 @@ void PropertyTree::validate(bool allow_extra_properties) const
114114

115115
void PropertyTree::addValidator(ValidatorFn fn) { validators_.push_back(std::move(fn)); }
116116

117-
PropertyTree& PropertyTree::get(std::string_view key)
117+
PropertyTree& PropertyTree::operator[](std::string_view key)
118118
{
119119
auto k = std::string(key);
120120
auto it = children_.find(k);
@@ -123,12 +123,13 @@ PropertyTree& PropertyTree::get(std::string_view key)
123123
// first time insertion
124124
keys_.push_back(k);
125125
// default-construct in map
126-
it = children_.emplace(k, PropertyTree{}).first;
126+
it = children_.emplace(std::move(k), PropertyTree{}).first;
127127
}
128128
return it->second;
129129
}
130130

131-
const PropertyTree& PropertyTree::get(std::string_view key) const { return children_.at(std::string(key)); }
131+
PropertyTree& PropertyTree::at(std::string_view key) { return children_.at(std::string(key)); }
132+
const PropertyTree& PropertyTree::at(std::string_view key) const { return children_.at(std::string(key)); }
132133

133134
const PropertyTree* PropertyTree::find(std::string_view key) const
134135
{

‎tesseract_common/src/property_tree_demo.cpp‎

Lines changed: 41 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ using namespace tesseract_common;
1111
PropertyTree buildConfigSchema()
1212
{
1313
PropertyTree schema;
14-
auto& cfg = schema.get("config");
14+
auto& cfg = schema["config"];
1515
cfg.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
1616
cfg.setAttribute(property_attribute::DOC, "Main config for plugin");
1717
cfg.setAttribute(property_attribute::REQUIRED, true);
@@ -22,43 +22,43 @@ PropertyTree buildConfigSchema()
2222

2323
// conditional
2424
{
25-
auto& prop = cfg.get("conditional");
25+
auto& prop = cfg["conditional"];
2626
prop.setAttribute(property_attribute::TYPE, property_type::BOOL);
2727
prop.setAttribute(property_attribute::DEFAULT, true);
2828
prop.setAttribute(property_attribute::DOC, "Enable conditional execution");
2929
prop.setAttribute(property_attribute::REQUIRED, true);
3030
}
3131
// inputs
3232
{
33-
auto& inputs = cfg.get("inputs");
33+
auto& inputs = cfg["inputs"];
3434
inputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
3535
inputs.setAttribute(property_attribute::DOC, "Input sources");
3636
inputs.setAttribute(property_attribute::REQUIRED, true);
3737
// program
3838
{
39-
auto& prop = inputs.get("program");
39+
auto& prop = inputs["program"];
4040
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
4141
prop.setAttribute(property_attribute::DOC, "The composite instruction");
4242
prop.setAttribute(property_attribute::REQUIRED, true);
4343
}
4444
// environment
4545
{
46-
auto& prop = inputs.get("environment");
46+
auto& prop = inputs["environment"];
4747
// env.setAttribute("enum", YAML::Load(R"(["dev","stag","prod"])"));
4848
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
4949
prop.setAttribute(property_attribute::DOC, "The tesseract environment");
5050
prop.setAttribute(property_attribute::REQUIRED, true);
5151
}
5252
// profiles
5353
{
54-
auto& prop = inputs.get("profiles");
54+
auto& prop = inputs["profiles"];
5555
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
5656
prop.setAttribute(property_attribute::DOC, "The tesseract profiles");
5757
prop.setAttribute(property_attribute::REQUIRED, true);
5858
// prof.setAttribute("enum", YAML::Load(R"(["A","B"])"));
5959
// prof.addValidator(validateEnum);
6060
// prof.addValidator([](auto const& node, auto& errs, const auto& path){
61-
// auto s = node.getValue().template as<std::string>();
61+
// auto s = node[Value().template as<std::string>();
6262
// if (s.find(',') == std::string::npos) {
6363
// errs.push_back(path + ": profiles should be comma-separated");
6464
// return false;
@@ -69,19 +69,19 @@ PropertyTree buildConfigSchema()
6969
}
7070
// outputs
7171
{
72-
auto& outputs = cfg.get("outputs");
72+
auto& outputs = cfg["outputs"];
7373
outputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
7474
outputs.setAttribute(property_attribute::DOC, "Output sources");
7575
outputs.setAttribute(property_attribute::REQUIRED, true);
7676
{
77-
auto& prop = outputs.get("program");
77+
auto& prop = outputs["program"];
7878
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
7979
prop.setAttribute(property_attribute::REQUIRED, true);
8080
}
8181
}
8282
// format_result_as_input
8383
{
84-
auto& prop = cfg.get("format_result_as_input");
84+
auto& prop = cfg["format_result_as_input"];
8585
prop.setAttribute(property_attribute::TYPE, property_type::BOOL);
8686
prop.setAttribute(property_attribute::DEFAULT, false);
8787
}
@@ -95,52 +95,52 @@ tesseract_common::PropertyTree getTaskComposerGraphSchema()
9595
schema.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
9696
schema.setAttribute(property_attribute::DOC, "TaskComposerGraph");
9797
{
98-
auto& prop = schema.get("class");
98+
auto& prop = schema["class"];
9999
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
100100
prop.setAttribute(property_attribute::DOC, "The class factory name");
101101
prop.setAttribute(property_attribute::REQUIRED, true);
102102
}
103103

104-
auto& config_schema = schema.get("config");
104+
auto& config_schema = schema["config"];
105105
config_schema.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
106106
config_schema.setAttribute(property_attribute::REQUIRED, true);
107107
{
108-
auto& prop = config_schema.get("conditional");
108+
auto& prop = config_schema["conditional"];
109109
prop.setAttribute(property_attribute::TYPE, property_type::BOOL);
110110
prop.setAttribute(property_attribute::DEFAULT, true);
111111
prop.setAttribute(property_attribute::DOC, "Enable conditional execution");
112112
prop.setAttribute(property_attribute::REQUIRED, true);
113113
}
114114

115115
{
116-
auto& inputs = config_schema.get("inputs");
116+
auto& inputs = config_schema["inputs"];
117117
inputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
118118
inputs.setAttribute(property_attribute::DOC, "Input sources");
119119
}
120120

121121
{
122-
auto& outputs = config_schema.get("outputs");
122+
auto& outputs = config_schema["outputs"];
123123
outputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
124124
outputs.setAttribute(property_attribute::DOC, "Output sources");
125125
}
126126

127127
{
128-
auto& prop = config_schema.get("nodes");
128+
auto& prop = config_schema["nodes"];
129129
prop.setAttribute(property_attribute::TYPE, "TaskComposerGraphNode{}");
130130
prop.setAttribute(property_attribute::DOC, "Map of all task nodes");
131131
prop.setAttribute(property_attribute::REQUIRED, true);
132132
}
133133

134134
{
135-
auto& prop = config_schema.get("edges");
135+
auto& prop = config_schema["edges"];
136136
prop.setAttribute(property_attribute::TYPE, "TaskComposerGraphEdge[]");
137137
prop.setAttribute(property_attribute::DOC, "List of graph edges");
138138
prop.setAttribute(property_attribute::REQUIRED, true);
139139
prop.addValidator(validateCustomType);
140140
}
141141

142142
{
143-
auto& prop = config_schema.get("terminals");
143+
auto& prop = config_schema["terminals"];
144144
prop.setAttribute(property_attribute::TYPE, property_type::createList(property_type::STRING));
145145
prop.setAttribute(property_attribute::DOC, "List of terminal tasks");
146146
prop.setAttribute(property_attribute::REQUIRED, true);
@@ -157,14 +157,14 @@ tesseract_common::PropertyTree getTaskComposerGraphEdgeSchema()
157157
schema.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
158158
schema.setAttribute(property_attribute::DOC, "TaskComposerGraphEdge");
159159
{
160-
auto& prop = schema.get("source");
160+
auto& prop = schema["source"];
161161
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
162162
prop.setAttribute(property_attribute::DOC, "The source task name");
163163
prop.setAttribute(property_attribute::REQUIRED, true);
164164
}
165165

166166
{
167-
auto& prop = schema.get("destinations");
167+
auto& prop = schema["destinations"];
168168
prop.setAttribute(property_attribute::TYPE, property_type::createList(property_type::STRING));
169169
prop.setAttribute(property_attribute::DOC, "The list of destination task name");
170170
prop.setAttribute(property_attribute::REQUIRED, true);
@@ -185,116 +185,116 @@ tesseract_common::PropertyTree getTaskComposerRasterOnlySchema()
185185
return_options[1] = "Successful";
186186
schema.setAttribute("return_options", YAML::Node(return_options));
187187
{
188-
auto& prop = schema.get("class");
188+
auto& prop = schema["class"];
189189
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
190190
prop.setAttribute(property_attribute::DOC, "The class factory name");
191191
prop.setAttribute(property_attribute::REQUIRED, true);
192192
}
193193

194-
auto& config_schema = schema.get("config");
194+
auto& config_schema = schema["config"];
195195
config_schema.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
196196
config_schema.setAttribute(property_attribute::REQUIRED, true);
197197
{
198-
auto& prop = config_schema.get("conditional");
198+
auto& prop = config_schema["conditional"];
199199
prop.setAttribute(property_attribute::TYPE, property_type::BOOL);
200200
prop.setAttribute(property_attribute::DEFAULT, true);
201201
prop.setAttribute(property_attribute::DOC, "Enable conditional execution");
202202
prop.setAttribute(property_attribute::REQUIRED, true);
203203
}
204204

205205
{
206-
auto& inputs = config_schema.get("inputs");
206+
auto& inputs = config_schema["inputs"];
207207
inputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
208208
inputs.setAttribute(property_attribute::DOC, "Input sources");
209209

210210
// program
211211
{
212-
auto& prop = inputs.get("program");
212+
auto& prop = inputs["program"];
213213
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
214214
prop.setAttribute(property_attribute::DOC, "The composite instruction");
215215
prop.setAttribute(property_attribute::REQUIRED, true);
216216
}
217217
// environment
218218
{
219-
auto& prop = inputs.get("environment");
219+
auto& prop = inputs["environment"];
220220
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
221221
prop.setAttribute(property_attribute::DOC, "The tesseract environment");
222222
prop.setAttribute(property_attribute::REQUIRED, true);
223223
}
224224
}
225225

226226
{
227-
auto& outputs = config_schema.get("outputs");
227+
auto& outputs = config_schema["outputs"];
228228
outputs.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
229229
outputs.setAttribute(property_attribute::DOC, "Output sources");
230230
// program
231231
{
232-
auto& prop = outputs.get("program");
232+
auto& prop = outputs["program"];
233233
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
234234
prop.setAttribute(property_attribute::DOC, "The composite instruction");
235235
prop.setAttribute(property_attribute::REQUIRED, true);
236236
}
237237
}
238238

239239
{
240-
auto& raster = config_schema.get("raster");
240+
auto& raster = config_schema["raster"];
241241
raster.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
242242
raster.setAttribute(property_attribute::DOC, "The raster task");
243243
raster.setAttribute(property_attribute::REQUIRED, true);
244244
{
245-
auto& prop = raster.get("task");
245+
auto& prop = raster["task"];
246246
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
247247
prop.setAttribute(property_attribute::DOC, "The task name");
248248
prop.setAttribute(property_attribute::REQUIRED, true);
249249
}
250-
auto& raster_config = raster.get("config");
250+
auto& raster_config = raster["config"];
251251
raster_config.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
252252
raster_config.setAttribute(property_attribute::REQUIRED, true);
253253
{
254-
auto& prop = raster_config.get("abort_terminal");
254+
auto& prop = raster_config["abort_terminal"];
255255
prop.setAttribute(property_attribute::TYPE, property_type::INT);
256256
prop.setAttribute(property_attribute::MINIMUM, 0);
257257
prop.setAttribute(property_attribute::DOC, "The abort terminal");
258258
}
259259
{
260-
auto& prop = raster_config.get("remapping");
260+
auto& prop = raster_config["remapping"];
261261
prop.setAttribute(property_attribute::TYPE, property_type::createMap(property_type::STRING));
262262
prop.setAttribute(property_attribute::DOC, "The remapping of input and output keys");
263263
}
264264
{
265-
auto& prop = raster_config.get("indexing");
265+
auto& prop = raster_config["indexing"];
266266
prop.setAttribute(property_attribute::TYPE, property_type::createList(property_type::STRING));
267267
prop.setAttribute(property_attribute::DOC, "The input and output keys to index");
268268
}
269269
}
270270

271271
{
272-
auto& transition = config_schema.get("transition");
272+
auto& transition = config_schema["transition"];
273273
transition.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
274274
transition.setAttribute(property_attribute::DOC, "The transition task");
275275
transition.setAttribute(property_attribute::REQUIRED, true);
276276
{
277-
auto& prop = transition.get("task");
277+
auto& prop = transition["task"];
278278
prop.setAttribute(property_attribute::TYPE, property_type::STRING);
279279
prop.setAttribute(property_attribute::DOC, "The task name");
280280
prop.setAttribute(property_attribute::REQUIRED, true);
281281
}
282-
auto& transition_config = transition.get("config");
282+
auto& transition_config = transition["config"];
283283
transition_config.setAttribute(property_attribute::TYPE, property_type::CONTAINER);
284284
transition_config.setAttribute(property_attribute::REQUIRED, true);
285285
{
286-
auto& prop = transition_config.get("abort_terminal");
286+
auto& prop = transition_config["abort_terminal"];
287287
prop.setAttribute(property_attribute::TYPE, property_type::INT);
288288
prop.setAttribute(property_attribute::MINIMUM, 0);
289289
prop.setAttribute(property_attribute::DOC, "The abort terminal");
290290
}
291291
{
292-
auto& prop = transition_config.get("remapping");
292+
auto& prop = transition_config["remapping"];
293293
prop.setAttribute(property_attribute::TYPE, property_type::createMap(property_type::STRING));
294294
prop.setAttribute(property_attribute::DOC, "The remapping of input and output keys");
295295
}
296296
{
297-
auto& prop = transition_config.get("indexing");
297+
auto& prop = transition_config["indexing"];
298298
prop.setAttribute(property_attribute::TYPE, property_type::createList(property_type::STRING));
299299
prop.setAttribute(property_attribute::DOC, "The input and output keys to index");
300300
}
@@ -399,7 +399,7 @@ int testBasic()
399399
return 1;
400400
}
401401

402-
bool cond = schema.get("config").get("conditional").getValue().as<bool>();
402+
bool cond = schema["config"]["conditional"].getValue().as<bool>();
403403
std::cout << "conditional = " << std::boolalpha << cond << "\n";
404404
return 0;
405405
}

0 commit comments

Comments
 (0)