Skip to content

Commit

Permalink
Added conversions for QAbstractListModel and QObjects.
Browse files Browse the repository at this point in the history
  • Loading branch information
@StefanFabian
StefanFabian committed Apr 30, 2020
1 parent 6f32bea commit 2b8cc3d
Show file tree
Hide file tree
Showing 3 changed files with 376 additions and 25 deletions.
2 changes: 0 additions & 2 deletions include/qml_ros_plugin/message_conversions.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,6 @@ QVariantMap msgToMap( const actionlib_msgs::GoalID &msg );

QVariantMap msgToMap( const actionlib_msgs::GoalStatus &msg );

QVariantMap msgToMap( const ros_babel_fish::BabelFishActionFeedback &msg, ros_babel_fish::BabelFish &fish );

QVariant msgToMap( const ros_babel_fish::TranslatedMessage::ConstPtr &msg );

QVariant msgToMap( const ros_babel_fish::TranslatedMessage::ConstPtr &storage, const ros_babel_fish::Message &msg );
Expand Down
201 changes: 178 additions & 23 deletions src/message_conversions.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,9 @@
#include "qml_ros_plugin/babel_fish_dispenser.h"
#include "qml_ros_plugin/qml_ros_conversion.h"

#include <QAbstractListModel>
#include <QDateTime>
#include <QMetaProperty>

#include <ros_babel_fish/message_types.h>
#include <ros/ros.h>
Expand Down Expand Up @@ -80,17 +82,6 @@ QVariantMap msgToMap( const actionlib_msgs::GoalStatus &msg )
return result;
}

QVariantMap msgToMap( const ros_babel_fish::BabelFishActionFeedback &msg, ros_babel_fish::BabelFish &fish )
{
QVariantMap result;
result.insert( "header", QVariant::fromValue( msgToMap( msg.header )));
result.insert( "status", QVariant::fromValue( msgToMap( msg.status )));
BabelFishMessage::Ptr feedback_copy = boost::make_shared<BabelFishMessage>( msg.feedback );
TranslatedMessage::ConstPtr translated_feedback = fish.translateMessage( feedback_copy );
result.insert( "feedback", QVariant::fromValue( msgToMap( translated_feedback )));
return result;
}

QVariant msgToMap( const TranslatedMessage::ConstPtr &msg )
{
return msgToMap( msg, *msg->translated_message );
Expand Down Expand Up @@ -449,7 +440,8 @@ ros::Duration getValue<ros::Duration>( const QVariant &variant )
}

template<typename T, typename ArrayType>
bool fillArray( Message &msg, const ArrayType &list )
typename std::enable_if<!std::is_same<ArrayType, QAbstractListModel>::value, bool>::type
fillArray( Message &msg, const ArrayType &list )
{
auto &array = msg.as<ArrayMessage<T>>();
size_t count = list.size();
Expand All @@ -474,6 +466,35 @@ bool fillArray( Message &msg, const ArrayType &list )
return no_error;
}

template<typename T, typename ArrayType>
typename std::enable_if<std::is_same<ArrayType, QAbstractListModel>::value, bool>::type
fillArray( Message &msg, const ArrayType &list )
{
auto &array = msg.as<ArrayMessage<T>>();
size_t count = list.rowCount();
bool no_error = true;
if ( array.isFixedSize() && count > array.length())
{
count = array.length();
no_error = false;
}
for ( size_t i = 0; i < count; ++i )
{
QModelIndex index = list.index( i, 0 );
const QVariant &variant = list.data( index );
if ( !isCompatible<T>( variant ))
{
ROS_WARN( "Tried to fill array with incompatible value! Skipped. (Type: %s)", variant.typeName());
no_error = false;
continue;
}
if ( array.isFixedSize()) array.assign( i, getValue<T>( variant ));
else array.push_back( getValue<T>( variant ));
}
return no_error;
}


template<typename T>
using limits = std::numeric_limits<T>;

Expand Down Expand Up @@ -642,17 +663,130 @@ bool fillArrayFromVariant( ros_babel_fish::Message &msg, const Array &list )
return false;
}

bool fillMessage( BabelFish &fish, ros_babel_fish::Message &msg, const QVariant &value )
template<>
bool fillArrayFromVariant( ros_babel_fish::Message &msg, const QAbstractListModel &list )
{
if ( value.typeName() == QString( "QVariantMap" ))
if ( msg.type() != MessageTypes::Array )
{
if ( msg.type() != MessageTypes::Compound )
ROS_WARN( "Invalid value passed to fillMessage!" );
return false;
}
auto &array = msg.as<ArrayMessageBase>();
size_t count = list.rowCount();
if ( array.isFixedSize() && count > array.length())
{
ROS_WARN( "Too many values for fixed size array (%lu vs %lu)! Only using first %lu.", count, array.length(),
array.length());
count = array.length();
}
switch ( array.elementType())
{
case MessageTypes::None:
break;
case MessageTypes::Bool:
return fillArray<bool>( array, list );
case MessageTypes::UInt8:
return fillArray<uint8_t>( array, list );
case MessageTypes::UInt16:
return fillArray<uint16_t>( array, list );
case MessageTypes::UInt32:
return fillArray<uint32_t>( array, list );
case MessageTypes::UInt64:
return fillArray<uint64_t>( array, list );
case MessageTypes::Int8:
return fillArray<int8_t>( array, list );
case MessageTypes::Int16:
return fillArray<int16_t>( array, list );
case MessageTypes::Int32:
return fillArray<int32_t>( array, list );
case MessageTypes::Int64:
return fillArray<int64_t>( array, list );
case MessageTypes::Float32:
return fillArray<float>( array, list );
case MessageTypes::Float64:
return fillArray<double>( array, list );
case MessageTypes::Time:
return fillArray<ros::Time>( array, list );
case MessageTypes::Duration:
return fillArray<ros::Duration>( array, list );
case MessageTypes::String:
{
ROS_WARN( "Invalid value passed to fillMessage!" );
return false;
auto &array = msg.as<ArrayMessage<std::string>>();
bool no_error = true;
for ( size_t i = 0; i < count; ++i )
{
QModelIndex index = list.index( i, 0 );
const QVariant &variant = list.data( index );
if ( variant.type() != QVariant::String )
{
ROS_WARN( "Tried to fill string array with non-string value! Skipped." );
no_error = false;
continue;
}
if ( array.isFixedSize()) array.assign( i, variant.toString().toStdString());
else array.push_back( variant.toString().toStdString());
}
return no_error;
}
case MessageTypes::Compound:
{
auto &array = msg.as<CompoundArrayMessage>();
bool no_error = true;
QHash<int, QByteArray> roleNames = list.roleNames();
if ( roleNames.empty()) return true;
std::vector<std::string> names;
{
int max_key = 0;
for ( auto key : roleNames.keys()) max_key = std::max( max_key, key );
names.resize( max_key + 1 );
}
// Collect keys
QHashIterator<int, QByteArray> it( roleNames );
while ( it.hasNext())
{
it.next();
names[it.key()] = it.value().data();
}
// Check that all keys are in message
const std::vector<std::string> &compound_names = array.elementTemplate()->compound.names;
for (auto &name : names)
{
const std::string &key = name;
if ( key.empty()) continue;
if ( std::find( compound_names.begin(), compound_names.end(), key ) == compound_names.end())
{
ROS_WARN_STREAM( "Message doesn't have field '" << key << "'!" );
no_error = false;
name = std::string();
}
}
for ( size_t i = 0; i < count; ++i )
{
QModelIndex index = list.index( i );
auto &child = array.isFixedSize() ? array[i] : array.appendEmpty();
auto &compound = child.as<CompoundMessage>();
for ( size_t j = 0; j < names.size(); ++j )
{
const std::string &key = names[j];
if ( key.empty()) continue;
no_error &= fillMessage( compound[key], index.data( j ));
}
}
return no_error;
}
case MessageTypes::Array:
ROS_ERROR_ONCE( "Arrays of arrays are not supported!" );
break;
}
return false;
}

bool fillMessage( BabelFish &fish, ros_babel_fish::Message &msg, const QVariant &value )
{
if ( value.canConvert<QVariantMap>() && msg.type() == MessageTypes::Compound)
{
auto &compound = msg.as<CompoundMessage>();
const QVariantMap &map = *reinterpret_cast<const QVariantMap *>(value.data());
const QVariantMap &map = value.value<QVariantMap>();
bool no_error = true;
for ( auto &key : map.keys())
{
Expand All @@ -667,24 +801,45 @@ bool fillMessage( BabelFish &fish, ros_babel_fish::Message &msg, const QVariant
}
return no_error;
}
else if ( value.typeName() == QString( "QVariantList" ))
else if ( value.canConvert<QVariantList>() && msg.type() == MessageTypes::Array)
{
const QVariantList &list = value.value<QVariantList>();
return fillArrayFromVariant( msg, list );
}
else if ( static_cast<QMetaType::Type>(value.type()) == QMetaType::QObjectStar ||
value.typeName() == QString( "qml_ros_plugin::Array*" ))
else if ( value.canConvert<QObject *>() )
{
const Array *array = value.value<Array *>();
const auto *array = value.value<Array *>();
if ( array != nullptr )
{
return fillArrayFromVariant( msg, *array );
}
const auto *list_model = value.value<QAbstractListModel *>();
if ( list_model != nullptr )
{
return fillArrayFromVariant( msg, *list_model );
}

if (msg.type() == MessageTypes::Compound)
{
const auto *obj = value.value<QObject *>();
const QMetaObject *metaObj = obj->metaObject();
auto &compound = msg.as<CompoundMessage>();
bool no_error = true;
for ( int i = metaObj->propertyOffset(); i < metaObj->propertyCount(); ++i)
{
QMetaProperty prop = metaObj->property(i);
std::string skey = prop.name();
// Skip keys that don't exist, we don't warn here because there will very likely be properties that don't exist.
if (!compound.containsKey(skey)) continue;
no_error &= fillMessage(fish, compound[skey], prop.read(obj));
}
return no_error;
}
}

if ( msg.type() & (MessageTypes::Array | MessageTypes::Compound))
{
ROS_WARN_STREAM( "Invalid type for array/compound message: " << value.typeName());
ROS_WARN_STREAM( "Invalid type for array/compound message: " << value.typeName() << " (" << value.type() << ")" );
return false;
}
switch ((int) value.type())
Expand Down

0 comments on commit 2b8cc3d

Please sign in to comment.