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Merge pull request #193 from NASA-Tensegrity-Robotics-Toolkit/YamlVal…
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…idation

Yaml validation
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@jbeisen
jbeisen committed Apr 17, 2016
2 parents 7484f81 + dbe6652 commit 5635bea
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Showing 2 changed files with 65 additions and 19 deletions.
37 changes: 36 additions & 1 deletion src/yamlbuilder/TensegrityModel.cpp
View file
Expand Up @@ -72,10 +72,13 @@ void TensegrityModel::setup(tgWorld& world) {

void TensegrityModel::addChildren(tgStructure& structure, const std::string& structurePath, tgBuildSpec& spec, const Yam& children) {
if (!children) return;
std::string structureAttributeKeys[] = {"path", "rotation", "translation", "scale", "offset"};
std::vector<std::string> structureAttributeKeysVector(structureAttributeKeys, structureAttributeKeys + sizeof(structureAttributeKeys) / sizeof(std::string));

// add all the children first
for (YAML::const_iterator child = children.begin(); child != children.end(); ++child) {
Yam childAttributes = child->second;
yamlContainsOnly(childAttributes, structurePath, structureAttributeKeysVector);
// multiple children can be defined using the syntax: child1/child2/child3...
// (add a slash so that each child is a string with a its name and a slash at the end)
std::string childCombos = child->first.as<std::string>() + "/";
Expand Down Expand Up @@ -187,6 +190,12 @@ void TensegrityModel::addChildTranslation(tgStructure& childStructure, const Yam

void TensegrityModel::buildStructure(tgStructure& structure, const std::string& structurePath, tgBuildSpec& spec) {
Yam root = YAML::LoadFile(structurePath);
// Validate YAML
std::string rootKeys[] = {"nodes", "pair_groups", "builders", "substructures", "bond_groups"};
std::vector<std::string> rootKeysVector(rootKeys, rootKeys + sizeof(rootKeys) / sizeof(std::string));
yamlContainsOnly(root, structurePath, rootKeysVector);
yamlNoDuplicates(root, structurePath);

addChildren(structure, structurePath, spec, root["substructures"]);
addBuilders(spec, root["builders"]);
addNodes(structure, root["nodes"]);
Expand Down Expand Up @@ -471,8 +480,8 @@ tgStructure& TensegrityModel::getStructure(tgStructure& parentStructure, const s

void TensegrityModel::addBuilders(tgBuildSpec& spec, const Yam& builders) {
for (YAML::const_iterator builder = builders.begin(); builder != builders.end(); ++builder) {

std::string tagMatch = builder->first.as<std::string>();
if (!builder->second["class"]) throw std::invalid_argument("Builder class not supplied for tag: " + tagMatch);
std::string builderClass = builder->second["class"].as<std::string>();
Yam parameters = builder->second["parameters"];

Expand Down Expand Up @@ -602,6 +611,32 @@ void TensegrityModel::addKinematicActuatorBuilder(const std::string& builderClas
// add more builders that use tgKinematicActuator::Config here
}

void TensegrityModel::yamlNoDuplicates(const Yam& yam, const std::string structurePath) {
std::set<std::string> keys;
for (YAML::const_iterator iter = yam.begin(); iter != yam.end(); ++iter) {
Yam child = iter->second;
if (child.Type() == YAML::NodeType::Map) {
yamlNoDuplicates(child, structurePath);
}
std::string keyName = iter->first.as<std::string>();
if (keys.find(keyName) == keys.end()) {
keys.insert(keyName);
}
else {
throw std::invalid_argument(structurePath.substr(structurePath.rfind("/") + 1) + " contains duplicate key: " + keyName);
}
}
}

void TensegrityModel::yamlContainsOnly(const Yam& yam, const std::string structurePath, const std::vector<std::string> keys) {
for (YAML::const_iterator key = yam.begin(); key != yam.end(); ++key) {
std::string keyName = key->first.as<std::string>();
if (std::find(keys.begin(), keys.end(), keyName) == keys.end()) {
throw std::invalid_argument(structurePath.substr(structurePath.rfind("/") + 1) + " contains invalid key: " + keyName);
}
}
}

void TensegrityModel::step(double timeStep) {
if (timeStep <= 0.0) {
throw std::invalid_argument("time step is not positive");
Expand Down
47 changes: 29 additions & 18 deletions src/yamlbuilder/TensegrityModel.h
View file
Expand Up @@ -57,76 +57,76 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
/*
* Default rod radius.
*/
const double rodRadius = 0.5;
const static double rodRadius = 0.5;
/*
* Default rod density.
*/
const double rodDensity = 1.0;
const static double rodDensity = 1.0;
/*
* Default rod friction.
*/
const double rodFriction = 1.0;
const static double rodFriction = 1.0;
/*
* Default rod roll friction.
*/
const double rodRollFriction = 0.0;
const static double rodRollFriction = 0.0;
/*
* Default rod restitution.
*/
const double rodRestitution = 0.2;
const static double rodRestitution = 0.2;

/*
* Default string stiffness.
*/
const double stringStiffness = 1000.0;
const static double stringStiffness = 1000.0;
/*
* Default string damping.
*/
const double stringDamping = 10.0;
const static double stringDamping = 10.0;
/*
* Default string pretension.
*/
const double stringPretension = 0.0;
const static double stringPretension = 0.0;
/*
* Default string radius.
*/
const double stringRadius = 1.0;
const static double stringRadius = 1.0;
/*
* Default string motor friction.
*/
const double stringMotorFriction = 0.0;
const static double stringMotorFriction = 0.0;
/*
* Default string motor intertia.
*/
const double stringMotorInertia = 1.0;
const static double stringMotorInertia = 1.0;
/*
* Default string back drivable (boolean).
*/
const double stringBackDrivable = 0;
const static double stringBackDrivable = 0;
/*
* Default string history (boolean).
*/
const double stringHistory = 0;
const static double stringHistory = 0;
/*
* Default string max tension.
*/
const double stringMaxTension = 1000.0;
const static double stringMaxTension = 1000.0;
/*
* Default string target velocity.
*/
const double stringTargetVelocity = 100.0;
const static double stringTargetVelocity = 100.0;
/*
* Default string min actual length.
*/
const double stringMinActualLength = 0.1;
const static double stringMinActualLength = 0.1;
/*
* Default string min rest length.
*/
const double stringMinRestLength = 0.1;
const static double stringMinRestLength = 0.1;
/*
* Default string rotation.
*/
const double stringRotation = 0;
const static double stringRotation = 0;

/*
* YAML-encoded structure path.
Expand Down Expand Up @@ -322,6 +322,17 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
* Responsible for adding a builder that uses the tgKinematicActuator config
*/
void addKinematicActuatorBuilder(const std::string& builderClass, const std::string& tagMatch, const Yam& parameters, tgBuildSpec& spec);

/*
* Ensures YAML node contains only keys from the supplied vector
*/
void yamlContainsOnly(const Yam& yam, const std::string structurePath, const std::vector<std::string> keys);

/*
* Ensures that YAML has all unique keys within each map
*/
void yamlNoDuplicates(const Yam& yam, const std::string structurePath);

};

#endif // TENSEGRITY_MODEL_H

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