Skip to content

Commit

Permalink
update yaml validation
Browse files Browse the repository at this point in the history
  • Loading branch information
@jbeisen
jbeisen committed Apr 17, 2016
1 parent 6d31dc1 commit dbe6652
Show file tree
Hide file tree
Showing 2 changed files with 23 additions and 84 deletions.
93 changes: 21 additions & 72 deletions src/yamlbuilder/TensegrityModel.cpp
View file
Expand Up @@ -27,7 +27,6 @@
// C++ Standard Library
#include <iostream>
#include <stdexcept>
#include <set>
// NTRT Core and tgCreator Libraries
#include "core/tgBasicActuator.h"
#include "core/tgKinematicActuator.h"
Expand Down Expand Up @@ -73,10 +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 @@ -188,7 +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);
validateYaml(root);
// 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 @@ -473,8 +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 @@ -604,90 +611,32 @@ void TensegrityModel::addKinematicActuatorBuilder(const std::string& builderClas
// add more builders that use tgKinematicActuator::Config here
}

void TensegrityModel::validateYaml(Yam& root) {
// at every level there should not be any duplicate keys
yamlNoDuplicates(root, "root"); // recursively checks entire YAML

// level 1 should only contain "nodes", "pair_groups", "builders", "bond_groups"
std::vector<std::string> level1keys;
level1keys.push_back("nodes");
level1keys.push_back("pair_groups");
level1keys.push_back("builders");
level1keys.push_back("substructures");
level1keys.push_back("bond_groups");
yamlContainsOnly(root, "root", level1keys);

// level 3 under "substructures" may only contain "path, "rotation", "translation", "scale", "offset"
std::vector<std::string> structureAttributes;
structureAttributes.push_back("path");
structureAttributes.push_back("rotation");
structureAttributes.push_back("translation");
structureAttributes.push_back("scale");
structureAttributes.push_back("offset");
if (root["substructures"]) {
Yam substructures = root["substructures"];
for (YAML::const_iterator structure = substructures.begin(); structure != substructures.end(); ++structure) {
Yam sub = structure->second;
yamlContainsOnly(sub, structure->first.as<std::string>(), structureAttributes);
}
}

// builders should contain exactly "class" and "parameters"
std::vector<std::string> builderKeys;
builderKeys.push_back("class");
builderKeys.push_back("parameters");
if (root["builders"]) {
Yam builders = root["builders"];
for (YAML::const_iterator builder = builders.begin(); builder != builders.end(); ++builder) {
Yam testYam = builder->second;
yamlContainsExactly(testYam, builder->first.as<std::string>(), builderKeys);
}
}
}

void TensegrityModel::yamlNoDuplicates(Yam& yam, std::string yamName) {
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, iter->first.as<std::string>());
yamlNoDuplicates(child, structurePath);
}
std::set<std::string> keys;
std::set<std::string>::iterator keyNameIter;
for (YAML::const_iterator key = yam.begin(); key != yam.end(); ++key) {
std::string keyName = key->first.as<std::string>();
keyNameIter = keys.find(keyName);
if (keyNameIter == keys.end()) {
keys.insert(keyName);
}
else {
throw std::invalid_argument("YAML contains duplicate key in section \"" + yamName + "\": \"" + keyName + "\"");
}
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(Yam& yam, std::string yamName, std::vector<std::string> keys) {
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("YAML contains invalid key in section \"" + yamName + "\": \"" + keyName + "\"");
throw std::invalid_argument(structurePath.substr(structurePath.rfind("/") + 1) + " contains invalid key: " + keyName);
}
}
}

void TensegrityModel::yamlContainsExactly(Yam& yam, std::string yamName, std::vector<std::string> keys) {
std::vector<std::string> yamKeys;
for (YAML::const_iterator key = yam.begin(); key != yam.end(); ++key) {
std::string keyName = key->first.as<std::string>();
yamKeys.push_back(keyName);
}
std::sort(yamKeys.begin(), yamKeys.end());
std::sort(keys.begin(), keys.end());
if (yamKeys != keys) {
throw std::invalid_argument("YAML contains invalid key or incomplete key set in section \"" + yamName + "\"");
}
}

void TensegrityModel::step(double timeStep) {
if (timeStep <= 0.0) {
throw std::invalid_argument("time step is not positive");
Expand Down
14 changes: 2 additions & 12 deletions src/yamlbuilder/TensegrityModel.h
View file
Expand Up @@ -323,25 +323,15 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
*/
void addKinematicActuatorBuilder(const std::string& builderClass, const std::string& tagMatch, const Yam& parameters, tgBuildSpec& spec);

/*
* Perform basic error checking in the structure of the YAML file
*/
void validateYaml(Yam& root);

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

/*
* Ensures keys in the YAML node match exactly the ones supplied in the vector
*/
void yamlContainsExactly(Yam& yam, std::string yamName, std::vector<std::string> keys);
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(Yam& yam, std::string yamName);
void yamlNoDuplicates(const Yam& yam, const std::string structurePath);

};

Expand Down

0 comments on commit dbe6652

Please sign in to comment.