From 0e05c8b2d291ff98571d9bddf146d138855e8ef7 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 14 Dec 2020 18:38:55 +0100
Subject: [PATCH] Update serialization functions.
---
include/hpp/manipulation/device.hh | 2 +
include/hpp/manipulation/graph/graph.hh | 4 +
include/hpp/manipulation/serialization.hh | 98 +++++++++++------------
src/device.cc | 11 ++-
src/steering-method/graph.cc | 2 +-
5 files changed, 59 insertions(+), 58 deletions(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index 1841997..2586170 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -50,6 +50,8 @@ namespace hpp {
return shPtr;
}
+ DevicePtr_t self () const { return self_.lock(); }
+
/// Print object in a stream
virtual std::ostream& print (std::ostream& os) const;
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 0cef13e..ade3266 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -52,6 +52,8 @@ namespace hpp {
static GraphPtr_t create(const std::string& name, DevicePtr_t robot,
const ProblemPtr_t& problem);
+ GraphPtr_t self () const { return wkPtr_.lock(); }
+
/// Create and insert a state selector inside the graph.
StateSelectorPtr_t createStateSelector (const std::string& name);
@@ -301,4 +303,6 @@ namespace hpp {
} // namespace hpp
+BOOST_CLASS_EXPORT_KEY(hpp::manipulation::graph::Graph)
+
#endif // HPP_MANIPULATION_GRAPH_GRAPH_HH
diff --git a/include/hpp/manipulation/serialization.hh b/include/hpp/manipulation/serialization.hh
index 0711fc4..cfb1835 100644
--- a/include/hpp/manipulation/serialization.hh
+++ b/include/hpp/manipulation/serialization.hh
@@ -34,10 +34,33 @@
namespace hpp {
namespace serialization {
-struct archive_graph_wrapper {
- manipulation::graph::GraphPtr_t graph;
- virtual ~archive_graph_wrapper() {}
-};
+template<typename Archive>
+manipulation::graph::GraphPtr_t getGraphFromArchive(Archive& ar, const std::string& name)
+{
+ auto* har = hpp::serialization::cast(&ar);
+ if (!har || !har->contains(name))
+ throw std::runtime_error("Cannot deserialize edges with a provided graph with correct name.");
+ return har->template get<manipulation::graph::Graph>(name, true)->self();
+}
+
+template<class Archive, class GraphCompT>
+inline void serializeGraphComponent(Archive & ar, boost::shared_ptr<GraphCompT>& c, const unsigned int version)
+{
+ (void) version;
+
+ std::size_t id;
+ std::string name;
+ if (Archive::is_saving::value) {
+ id = (c ? c->id() : -1);
+ if (c && c->parentGraph()) name = c->parentGraph()->name();
+ }
+ ar & BOOST_SERIALIZATION_NVP(id);
+ ar & BOOST_SERIALIZATION_NVP(name);
+ if (!Archive::is_saving::value) {
+ auto graph = getGraphFromArchive(ar, name);
+ c = HPP_DYNAMIC_PTR_CAST(GraphCompT, graph->get(id).lock());
+ }
+}
} // namespace manipulation
} // namespace hpp
@@ -51,64 +74,32 @@ namespace serialization {
template<class Archive>
inline void serialize(Archive & ar, hpp::manipulation::graph::GraphPtr_t& g, const unsigned int version)
{
- using hpp::serialization::archive_graph_wrapper;
- using namespace hpp::manipulation::graph;
+ using hpp::serialization::getGraphFromArchive;
(void) version;
- std::size_t id;
- if (Archive::is_saving::value) id = g->id();
- ar & BOOST_SERIALIZATION_NVP(id);
- if (!Archive::is_saving::value) {
- archive_graph_wrapper* agw = dynamic_cast<archive_graph_wrapper*>(&ar);
- if (agw == NULL)
- throw std::runtime_error("Cannot deserialize edges with a archive_graph_wrapper");
- g = agw->graph;
- }
+ std::string name;
+ if (Archive::is_saving::value) name = g->name();
+ ar & BOOST_SERIALIZATION_NVP(name);
+ if (!Archive::is_saving::value)
+ g = getGraphFromArchive(ar, name);
}
template<class Archive>
inline void serialize(Archive & ar, hpp::manipulation::graph::EdgePtr_t& e, const unsigned int version)
{
- using hpp::serialization::archive_graph_wrapper;
- using namespace hpp::manipulation::graph;
- (void) version;
-
- std::size_t id;
- if (Archive::is_saving::value) id = (e ? e->id() : -1);
- ar & BOOST_SERIALIZATION_NVP(id);
- if (!Archive::is_saving::value) {
- archive_graph_wrapper* agw = dynamic_cast<archive_graph_wrapper*>(&ar);
- if (agw == NULL)
- throw std::runtime_error("Cannot deserialize edges with a archive_graph_wrapper");
- GraphComponentPtr_t gc = agw->graph->get(id).lock();
- e = HPP_DYNAMIC_PTR_CAST(Edge, gc);
- }
+ hpp::serialization::serializeGraphComponent (ar, e, version);
}
template<class Archive>
inline void serialize(Archive & ar, hpp::manipulation::graph::StatePtr_t& s, const unsigned int version)
{
- using hpp::serialization::archive_graph_wrapper;
- using namespace hpp::manipulation::graph;
- (void) version;
-
- std::size_t id;
- if (Archive::is_saving::value) id = (s ? s->id() : -1);
- ar & BOOST_SERIALIZATION_NVP(id);
- if (!Archive::is_saving::value) {
- archive_graph_wrapper* agw = dynamic_cast<archive_graph_wrapper*>(&ar);
- if (agw == NULL)
- throw std::runtime_error("Cannot deserialize edges with a archive_graph_wrapper");
- GraphComponentPtr_t gc = agw->graph->get(id).lock();
- s = HPP_DYNAMIC_PTR_CAST(State, gc);
- }
+ hpp::serialization::serializeGraphComponent (ar, s, version);
}
template<class Archive>
inline void serialize(Archive & ar, hpp::manipulation::graph::EdgeWkPtr_t& e, const unsigned int version)
{
- using namespace hpp::manipulation::graph;
- EdgePtr_t e_ = e.lock();
+ auto e_ = e.lock();
serialize(ar, e_, version);
e = e_;
}
@@ -116,8 +107,7 @@ inline void serialize(Archive & ar, hpp::manipulation::graph::EdgeWkPtr_t& e, co
template<class Archive>
inline void serialize(Archive & ar, hpp::manipulation::graph::StateWkPtr_t& s, const unsigned int version)
{
- using namespace hpp::manipulation::graph;
- StatePtr_t s_ = s.lock();
+ auto s_ = s.lock();
serialize(ar, s_, version);
s = s_;
}
@@ -126,18 +116,20 @@ template<class Archive>
inline void load (Archive& ar, hpp::manipulation::DevicePtr_t& d, const unsigned int version)
{
load<Archive, hpp::manipulation::Device> (ar, d, version);
- using hpp::serialization::archive_device_wrapper;
- archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
- if (adw) d = boost::dynamic_pointer_cast<hpp::manipulation::Device>(adw->device);
+ auto* har = hpp::serialization::cast(&ar);
+ if (d && har && har->contains(d->name()))
+ d = har->template getChildClass<hpp::pinocchio::Device, hpp::manipulation::Device>(d->name(), true)->self();
}
template<class Archive>
inline void load (Archive& ar, hpp::manipulation::DeviceWkPtr_t& d, const unsigned int version)
{
load<Archive, hpp::manipulation::Device> (ar, d, version);
- using hpp::serialization::archive_device_wrapper;
- archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
- if (adw) d = boost::dynamic_pointer_cast<hpp::manipulation::Device>(adw->device);
+ auto* har = hpp::serialization::cast(&ar);
+ auto dd = d.lock();
+ if (!dd) return;
+ if (har && har->contains(dd->name()))
+ d = har->template getChildClass<hpp::pinocchio::Device, hpp::manipulation::Device>(dd->name(), true)->self();
}
} // namespace serialization
} // namespace boost
diff --git a/src/device.cc b/src/device.cc
index 665301d..09b8b4a 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -139,13 +139,16 @@ namespace hpp {
template<class Archive>
void Device::serialize(Archive & ar, const unsigned int version)
{
- using hpp::serialization::archive_device_wrapper;
using namespace boost::serialization;
-
(void) version;
+ auto* har = hpp::serialization::cast(&ar);
+
ar & make_nvp("base", base_object<pinocchio::HumanoidRobot>(*this));
- archive_device_wrapper* adw = dynamic_cast<archive_device_wrapper*>(&ar);
- bool written = (adw == NULL);
+
+ // TODO we should throw if a pinocchio::Device instance with name name_
+ // and not of type manipulation::Device is found.
+ bool written = (!har ||
+ har->template getChildClass<pinocchio::Device, Device>(name_, false) != this);
ar & BOOST_SERIALIZATION_NVP(written);
if (written) {
ar & BOOST_SERIALIZATION_NVP(self_);
diff --git a/src/steering-method/graph.cc b/src/steering-method/graph.cc
index 0e47f49..f7d778c 100644
--- a/src/steering-method/graph.cc
+++ b/src/steering-method/graph.cc
@@ -44,7 +44,7 @@ namespace hpp {
GraphPtr_t Graph::create
(const core::ProblemConstPtr_t& problem)
{
- assert(HPP_DYNAMIC_PTR_CASE (const Problem, problem));
+ assert(HPP_DYNAMIC_PTR_CAST (const Problem, problem));
ProblemConstPtr_t p = HPP_STATIC_PTR_CAST(const Problem, problem);
Graph* ptr = new Graph (p);
GraphPtr_t shPtr (ptr);
--
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