add support for recursive XmlRpcSettings lookups

ros-industrial · Jul 7, 2020 · d2433ba · d2433ba
1 parent b7d2b4e
commit d2433ba
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Showing 4 changed files with 49 additions and 3 deletions.
diff --git a/socketcan_interface/CMakeLists.txt b/socketcan_interface/CMakeLists.txt
@@ -104,6 +104,7 @@ install(
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 if(CATKIN_ENABLE_TESTING)
+  find_package(xmlrpcpp REQUIRED)
 
   catkin_add_gtest(${PROJECT_NAME}-test_dummy_interface
     test/test_dummy_interface.cpp
@@ -125,9 +126,13 @@ if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(${PROJECT_NAME}-test_settings
     test/test_settings.cpp
   )
+  target_include_directories(${PROJECT_NAME}-test_settings PRIVATE
+    ${xmlrpcpp_INCLUDE_DIRS}
+  )
   target_link_libraries(${PROJECT_NAME}-test_settings
     ${PROJECT_NAME}_string
     ${catkin_LIBRARIES}
+    ${xmlrpcpp_LIBRARIES}
   )
 
   catkin_add_gtest(${PROJECT_NAME}-test_string

diff --git a/socketcan_interface/include/socketcan_interface/xmlrpc_settings.h b/socketcan_interface/include/socketcan_interface/xmlrpc_settings.h
@@ -1,5 +1,6 @@
 #ifndef SOCKETCAN_INTERFACE_XMLRPC_SETTINGS_H
 #define SOCKETCAN_INTERFACE_XMLRPC_SETTINGS_H
+#include <socketcan_interface/logging.h>
 
 #include <socketcan_interface/settings.h>
 #include "xmlrpcpp/XmlRpcValue.h"
@@ -12,10 +13,20 @@ class XmlRpcSettings : public can::Settings {
     XmlRpcSettings(const XmlRpc::XmlRpcValue &v) : value_(v) {}
     XmlRpcSettings& operator=(const XmlRpc::XmlRpcValue &v) { value_ = v; return *this; }
 private:
-    virtual bool getRepr(const std::string &n, std::string & repr) const {
-        if(value_.hasMember(n)){
+    virtual bool getRepr(const std::string &name, std::string & repr) const {
+        const XmlRpc::XmlRpcValue *value = &value_;
+
+        std::string n = name;
+        size_t delim_pos;
+        while (value->getType() == XmlRpc::XmlRpcValue::TypeStruct && (delim_pos = n.find('/')) != std::string::npos){
+            std::string segment = n.substr(0, delim_pos);
+            if (!value->hasMember(segment)) return false;
+            value = &((*value)[segment]);
+            n.erase(0, delim_pos+1);
+        }
+        if(value->hasMember(n)){
             std::stringstream sstr;
-            sstr << const_cast< XmlRpc::XmlRpcValue &>(value_)[n]; // does not write since already existing
+            sstr << (*value)[n];
             repr = sstr.str();
             return true;
         }

diff --git a/socketcan_interface/package.xml b/socketcan_interface/package.xml
@@ -21,6 +21,7 @@
   <depend>linux-kernel-headers</depend>
 
   <test_depend>rosunit</test_depend>
+  <test_depend>xmlrpcpp</test_depend>
 
   <export>
     <socketcan_interface plugin="${prefix}/socketcan_interface_plugin.xml" />

diff --git a/socketcan_interface/test/test_settings.cpp b/socketcan_interface/test/test_settings.cpp
@@ -1,5 +1,6 @@
 // Bring in my package's API, which is what I'm testing
 #include <socketcan_interface/settings.h>
+#include <socketcan_interface/xmlrpc_settings.h>
 #include <socketcan_interface/socketcan.h>
 
 // Bring in gtest
@@ -55,6 +56,34 @@ TEST(SettingTest, socketcan_masks)
   EXPECT_EQ(sci.getFatalErrorMask(), fatal_errors & (~CAN_ERR_TX_TIMEOUT));
 }
 
+TEST(SettingTest, xmlrpc)
+{
+  XmlRpc::XmlRpcValue value;
+  value["param"] = 1;
+  XmlRpc::XmlRpcValue segment;
+  segment["param"] = 2;
+  value["segment"] = segment;
+  XmlRpcSettings settings(value);
+
+  ASSERT_TRUE(value["segment"].hasMember(std::string("param")));
+
+  int res;
+  EXPECT_TRUE(settings.get<int>("param", res));
+  EXPECT_EQ(res, 1);
+  EXPECT_EQ(settings.get_optional("param", 0), 1);
+  EXPECT_FALSE(settings.get<int>("param2", res));
+  EXPECT_EQ(settings.get_optional("param2", 0), 0);
+
+  EXPECT_TRUE(settings.get<int>("segment/param", res));
+  EXPECT_EQ(res, 2);
+  EXPECT_EQ(settings.get_optional("segment/param", 0), 2);
+
+  EXPECT_FALSE(settings.get<int>("segment/param2", res));
+  EXPECT_EQ(settings.get_optional("segment/param2", 0), 0);
+  EXPECT_FALSE(settings.get<int>("segment2/param", res));
+  EXPECT_EQ(settings.get_optional("segment2/param", 0), 0);
+}
+
 // Run all the tests that were declared with TEST()
 int main(int argc, char **argv){
 testing::InitGoogleTest(&argc, argv);