Added Ros.io to allow saving and loading data to yaml files.

Refactoring.

CMakeLists.txt

@@ -12,6 +12,9 @@ find_package(catkin REQUIRED actionlib roscpp image_transport ros_babel_fish tf2
 
 find_package(Qt5 COMPONENTS Core Multimedia Qml Quick REQUIRED)
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(YAML_CPP yaml-cpp)
+
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
@@ -21,7 +24,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 catkin_package(
   LIBRARIES qml_ros_plugin
   CATKIN_DEPENDS actionlib roscpp image_transport ros_babel_fish tf2_ros
-  DEPENDS Qt5Core Qt5Multimedia Qt5Qml
+  DEPENDS Qt5Core Qt5Multimedia Qt5Qml YAML_CPP
 )
 
 ###########
@@ -47,6 +50,7 @@ set(SOURCES
   include/qml_ros_plugin/goal_handle.h
   include/qml_ros_plugin/image_buffer.h
   include/qml_ros_plugin/image_transport_subscriber.h
+  include/qml_ros_plugin/io.h
   include/qml_ros_plugin/message_conversions.h
   include/qml_ros_plugin/node_handle.h
   include/qml_ros_plugin/package.h
@@ -67,6 +71,7 @@ set(SOURCES
   src/goal_handle.cpp
   src/image_buffer.cpp
   src/image_transport_subscriber.cpp
+  src/io.cpp
   src/message_conversions.cpp
   src/node_handle.cpp
   src/package.cpp
@@ -81,7 +86,7 @@ set(SOURCES
   src/time.cpp)
 
 add_library(qml_ros_plugin ${SOURCES})
-target_link_libraries(qml_ros_plugin ${catkin_LIBRARIES} Qt5::Core Qt5::Multimedia Qt5::Qml Qt5::Quick)
+target_link_libraries(qml_ros_plugin ${catkin_LIBRARIES} Qt5::Core Qt5::Multimedia Qt5::Qml Qt5::Quick ${YAML_CPP_LIBRARIES})
 
 #############
 ## Testing ##
@@ -128,6 +133,10 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest_gtest(${PROJECT_NAME}_test_package test/test_package.test test/package.cpp)
   target_link_libraries(${PROJECT_NAME}_test_package ${PROJECT_NAME})
   set_target_properties(${PROJECT_NAME}_test_package PROPERTIES OUTPUT_NAME test_package PREFIX "")
+
+  add_rostest_gtest(${PROJECT_NAME}_test_io test/test_io.test test/io.cpp)
+  target_link_libraries(${PROJECT_NAME}_test_io ${PROJECT_NAME})
+  set_target_properties(${PROJECT_NAME}_test_io PROPERTIES OUTPUT_NAME test_io PREFIX "")
 endif ()
 
 # to run: catkin build --this --no-deps -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug -v --catkin-make-args qml_ros_plugin_coverage

docs/pages/Ros-Singleton.rst

@@ -88,6 +88,24 @@ The package property provides a wrapper for ``ros::package``.
   // Get plugins for a package as a map [package_name -> [values]]
   var plugins = Ros.package.getPlugins("rviz", "plugin")
 
+Console
+-------
+The Ros singleton also provides access to the ``Ros`` logging functionality.
+See `Logging`:ref:.
+
+IO
+--
+You can also save and read data that can be serialized in the yaml format using:
+
+.. code-block:: qml
+
+  var obj = {"key": [1, 2, 3], "other": "value"}
+  if (!Ros.io.writeYaml("/home/user/file.yaml", obj))
+    Ros.error("Could not write file!")
+  // and read it back
+  obj = Ros.io.readYaml("/home/user/file.yaml")
+  if (!obj) Ros.error("Failed to load file!")
+
 API
 ---
 .. doxygenclass:: qml_ros_plugin::Package
@@ -96,5 +114,8 @@ API
 .. doxygenclass:: qml_ros_plugin::TopicInfo
   :members:
 
+.. doxygenclass:: qml_ros_plugin::IO
+  :members:
+
 .. doxygenclass:: qml_ros_plugin::RosQmlSingletonWrapper
   :members:

include/qml_ros_plugin/array.h

@@ -4,7 +4,6 @@
 #ifndef QML_ROS_PLUGIN_ARRAY_H
 #define QML_ROS_PLUGIN_ARRAY_H
 
-#include <QObject>
 #include <QVariant>
 
 #include <ros_babel_fish/messages/array_message.h>
@@ -16,21 +15,24 @@ namespace qml_ros_plugin
 /*!
  * @brief View on an array field of a message.
  * This allows access on array elements with lazy copy mechanism.
+ * Copies of an Array point to the same data and modifications of one array will be mirrored by the other.
  */
-class Array : public QObject
+class Array
 {
-Q_OBJECT
+Q_GADGET
   // @formatter:off
   //! The length of the array, i.e., the number of elements.
-  Q_PROPERTY( int length READ length WRITE setLength NOTIFY lengthChanged )
+  Q_PROPERTY( int length READ length WRITE setLength )
   // @formatter:on
 public:
+  Array();
+
   Array( ros_babel_fish::TranslatedMessage::ConstPtr translated_message,
          const ros_babel_fish::ArrayMessageBase *message );
 
 //  Array( const Array &other );
 
-  ~Array() override = default;
+  ~Array() = default;
 
   int length() const;
 
@@ -101,22 +103,27 @@ Q_OBJECT
 
   const ros_babel_fish::ArrayMessageBase *_message() const;
 
-signals:
-
-  void lengthChanged();
+  Q_INVOKABLE QVariantList toVariantList() const;
 
 private:
-  void enlargeCache( int size );
-
-  void fillCache();
-
-  ros_babel_fish::TranslatedMessage::ConstPtr translated_message_;
-  const ros_babel_fish::ArrayMessageBase *message_;
-  mutable QVariantList cache_;
-  bool all_in_cache_;
-  QList<bool> modified_;
-  int length_;
+  void enlargeCache( int size ) const;
+
+  void fillCache() const;
+
+  struct Data
+  {
+    QVariantList cache;
+    QList<bool> modified;
+    ros_babel_fish::TranslatedMessage::ConstPtr translated_message;
+    const ros_babel_fish::ArrayMessageBase *message = nullptr;
+    bool all_in_cache = true;
+    int length = 0;
+  };
+  // Copies of array share the data
+  std::shared_ptr<Data> p_;
 };
 } // qml_ros_plugin
 
+Q_DECLARE_METATYPE( qml_ros_plugin::Array )
+
 #endif // QML_ROS_PLUGIN_ARRAY_H