--MarkerSets assignment to objects, 'interface' class and bindings (#…

…2371)

* --add markersets alias class
Intended to provide convenience access to markersets hierarchy
* --Add MarkerSets.h; Specialize interaction to be MarkerSets class
* --modify wrapper access to be just through sorted list of marker points
* --add function to rekey Configuration values.
This function will replace the original keys for all the values in a configuration (regardless of type) with sequential numeric strings preserving the natural ordering of the original set of keys
* --increase array key limit to 1000 elements from 100
The constructed key for array values is formatted  with a fixed-width leading-zero numeric string so that it will always sort properly.
* --add rekeying to markersets after they are loaded.
* --add MarkerSets accessors for all possible permutations
* --make sure we clear out existing markers before we write new ones.
* --bindings for subsets, link sets
* --Finish bindings, cleanup LinkMarkerSet
* --rename hierarchy components for clarity and brevity
* --transform points between object local and world points
* --add ability to map back to id from link name
* --enable casting/templated subconfig create
* --create subconfigs with appropriate type; init attrs  w.empty markerset
* --address occasional bugs with empty strings written to paths for saved jsons
* --explicitly state limitations of using object initialization attributes

src/esp/bindings/ConfigBindings.cpp

@@ -169,10 +169,10 @@ void initConfigBindings(py::module& m) {
           R"(Retrieves a string representation of the value referred to by the passed key.)")
 
       .def(
-          "get_keys_by_type", &Configuration::getStoredKeys,
+          "get_keys_by_type", &Configuration::getKeysByType,
           R"(Retrieves a list of all the keys of values of the specified types. Takes ConfigValType
-          enum value as argument.)",
-          "value_type"_a)
+          enum value as argument, and whether the keys should be sorted or not.)",
+          "value_type"_a, "sorted"_a = false)
 
       .def("get_keys_and_types", &Configuration::getValueTypes,
            R"(Returns a dictionary where the keys are the names of the values
@@ -202,7 +202,9 @@ void initConfigBindings(py::module& m) {
       // subconfigs
       .def(
           "get_subconfig_keys", &Configuration::getSubconfigKeys,
-          R"(Retrieves a list of the keys of this configuration's subconfigurations)")
+          R"(Retrieves a list of the keys of this configuration's subconfigurations,
+          specifying whether the keys should be sorted or not)",
+          "sorted"_a = false)
 
       .def("get_subconfig", &Configuration::editSubconfig<Configuration>,
            py::return_value_policy::reference_internal,
@@ -220,7 +222,8 @@ void initConfigBindings(py::module& m) {
           R"(Returns true if specified key references an existing subconfiguration within this configuration.)")
       .def(
           "remove_subconfig", &Configuration::removeSubconfig,
-          R"(Removes and returns subconfiguration corresponding to passed key, if found. Gives warning otherwise.)");
+          R"(Removes and returns subconfiguration corresponding to passed key, if found. Gives warning otherwise.)")
+      .def("__repr__", &Configuration::getAllValsAsString, "new_line"_a = "\n");
 
 }  // initConfigBindings
 

src/esp/bindings/PhysicsObjectBindings.cpp

@@ -66,6 +66,20 @@ void declareBasePhysicsObjectWrapper(py::module& m,
           ("Get or set the translation vector of this " + objType +
            "'s root SceneNode. If modified, sim state will be updated.")
               .c_str())
+      .def(
+          "transform_world_pts_to_local",
+          &PhysObjWrapper::transformWorldPointsToLocal,
+          R"(Given the list of passed points in world space, return those points
+          transformed to this object's local space. The link_id is for articulated
+          objects and is ignored for rigid objects and stages )",
+          "ws_points"_a, "link_id"_a)
+      .def(
+          "transform_local_pts_to_world",
+          &PhysObjWrapper::transformLocalPointsToWorld,
+          R"(Given the list of passed points in this object's local space, return
+          those points transformed to world space. The link_id is for articulated
+          objects and is ignored for rigid objects and stages )",
+          "ls_points"_a, "link_id"_a)
       .def_property(
           "rotation", &PhysObjWrapper::getRotation,
           &PhysObjWrapper::setRotation,
@@ -187,9 +201,14 @@ void declareBasePhysicsObjectWrapper(py::module& m,
       .def_property_readonly(
           "user_attributes", &PhysObjWrapper::getUserAttributes,
           ("User-defined " + objType +
-           " attributes.  These are not used internally by Habitat in any "
+           " attributes. These are not used internally by Habitat in any "
            "capacity, but are available for a user to consume how they wish.")
               .c_str())
+      .def_property_readonly(
+          "marker_sets", &PhysObjWrapper::getMarkerSets,
+          py::return_value_policy::reference_internal,
+          ("The MarkerSets defined for " + objType + " this object.").c_str())
+
       .def_property_readonly(
           "csv_info", &PhysObjWrapper::getObjectInfo,
           ("Comma-separated informational string describing this " + objType +
@@ -345,7 +364,20 @@ void declareRigidObjectWrapper(py::module& m,
       .def_property_readonly(
           "creation_attributes",
           &ManagedRigidObject::getInitializationAttributes,
-          ("Get a copy of the attributes used to create this " + objType + ".")
+          ("Get a copy of the template attributes describing the initial state "
+           "of this " +
+           objType +
+           ". These attributes have the combination of data from the "
+           "original " +
+           objType +
+           " attributes and specific instance attributes "
+           "used to create this " +
+           objType +
+           ". Note : values will reflect "
+           "both sources, and should not be saved to disk as " +
+           objType +
+           " attributes, since instance attribute modifications will "
+           "still occur on subsequent loads.")
               .c_str())
       .def_property_readonly(
           "velocity_control", &ManagedRigidObject::getVelocityControl,
@@ -366,7 +398,20 @@ void declareArticulatedObjectWrapper(py::module& m,
       .def_property_readonly(
           "creation_attributes",
           &ManagedArticulatedObject::getInitializationAttributes,
-          ("Get a copy of the attributes used to create this " + objType + ".")
+          ("Get a copy of the template attributes describing the initial state "
+           "of this " +
+           objType +
+           ". These attributes have the combination of data from the "
+           "original " +
+           objType +
+           " attributes and specific instance attributes "
+           "used to create this " +
+           objType +
+           ". Note : values will reflect "
+           "both sources, and should not be saved to disk as " +
+           objType +
+           " attributes, since instance attribute modifications will "
+           "still occur on subsequent loads.")
               .c_str())
       .def_property_readonly(
           "global_scale", &ManagedArticulatedObject::getGlobalScale,
@@ -398,6 +443,13 @@ void declareArticulatedObjectWrapper(py::module& m,
                              ("Get a dict mapping Habitat object ids to this " +
                               objType + "'s link ids.")
                                  .c_str())
+      .def("get_link_id_from_name",
+           &ManagedArticulatedObject::getLinkIdFromName,
+           ("Get this " + objType +
+            "'s articulated link id specified by the passed "
+            "link_name.")
+               .c_str(),
+           "link_name"_a)
       .def_property_readonly(
           "num_links", &ManagedArticulatedObject::getNumLinks,
           ("Get the number of links this " + objType + " holds.").c_str())
@@ -484,7 +536,7 @@ void declareArticulatedObjectWrapper(py::module& m,
                .c_str(),
            "link_id"_a)
       .def("get_link_name", &ManagedArticulatedObject::getLinkName,
-           ("Get the name of the this " + objType +
+           ("Get the name of this " + objType +
             "'s link specified by the given link_id.")
                .c_str(),
            "link_id"_a)

src/esp/core/Configuration.cpp

@@ -496,7 +496,7 @@ int Configuration::loadOneConfigFromJson(int numConfigSettings,
 
         for (size_t i = 0; i < jsonObj.Size(); ++i) {
           const std::string subKey =
-              Cr::Utility::formatString("{}_{:.02d}", key, i);
+              Cr::Utility::formatString("{}_{:.03d}", key, i);
           numConfigSettings += subGroupPtr->loadOneConfigFromJson(
               numConfigSettings, subKey, jsonObj[i]);
         }
@@ -511,7 +511,7 @@ int Configuration::loadOneConfigFromJson(int numConfigSettings,
 
       for (size_t i = 0; i < jsonObj.Size(); ++i) {
         const std::string subKey =
-            Cr::Utility::formatString("{}_{:.02d}", key, i);
+            Cr::Utility::formatString("{}_{:.03d}", key, i);
         numConfigSettings += subGroupPtr->loadOneConfigFromJson(
             numConfigSettings, subKey, jsonObj[i]);
       }
@@ -576,10 +576,10 @@ void Configuration::writeValuesToJson(io::JsonGenericValue& jsonObj,
       auto jsonVal = valIter->second.writeToJsonObject(allocator);
       jsonObj.AddMember(name, jsonVal, allocator);
     } else {
-      ESP_VERY_VERBOSE()
-          << "Unitialized ConfigValue in Configuration @ key ["
+      ESP_VERY_VERBOSE(Mn::Debug::Flag::NoSpace)
+          << "Unitialized ConfigValue in Configuration @ key `"
           << valIter->first
-          << "], so nothing will be written to JSON for this key.";
+          << "`, so nothing will be written to JSON for this key.";
     }
   }  // iterate through all values
 }  // Configuration::writeValuesToJson
@@ -600,10 +600,10 @@ void Configuration::writeSubconfigsToJson(io::JsonGenericValue& jsonObj,
           cfgIter->second->writeToJsonObject(allocator);
       jsonObj.AddMember(name, subObj, allocator);
     } else {
-      ESP_VERY_VERBOSE()
-          << "Unitialized/empty Subconfig in Configuration @ key ["
+      ESP_VERY_VERBOSE(Mn::Debug::Flag::NoSpace)
+          << "Unitialized/empty Subconfig in Configuration @ key `"
           << cfgIter->first
-          << "], so nothing will be written to JSON for this key.";
+          << "`, so nothing will be written to JSON for this key.";
     }
   }  // iterate through all configurations
 
@@ -648,15 +648,58 @@ template <>
 std::shared_ptr<Configuration> Configuration::editSubconfig<Configuration>(
     const std::string& name) {
   // retrieve existing (or create new) subgroup, with passed name
-  return addSubgroup(name);
+  return addOrEditSubgroup<Configuration>(name).first->second;
 }
 
 template <>
 void Configuration::setSubconfigPtr<Configuration>(
     const std::string& name,
     std::shared_ptr<Configuration>& configPtr) {
   configMap_[name] = std::move(configPtr);
-}  // setSubconfigPtr
+}
+
+int Configuration::rekeyAllValues() {
+  // Get all sorted key-value pairs of values
+  std::map<std::string, ConfigValue> sortedValMap(valueMap_.begin(),
+                                                  valueMap_.end());
+  // clear out existing value map - subconfigs are not touched.
+  valueMap_.clear();
+  // place sorted values with newly constructed keys
+  int keyIter = 0;
+  for (auto it = sortedValMap.cbegin(); it != sortedValMap.cend(); ++it) {
+    std::string newKey = Cr::Utility::formatString("{:.03d}", keyIter++);
+    valueMap_[newKey] = it->second;
+  }
+  return keyIter;
+}  // Configuration::rekeyAllValues()
+
+int Configuration::rekeySubconfigValues(const std::string& subconfigKey) {
+  std::pair<ConfigMapType::iterator, bool> rekeySubconfigEntry =
+      addOrEditSubgroup<Configuration>(subconfigKey);
+  // check if subconfig existed already - result from addOrEditSubgroup would
+  // be false if add failed.
+  if (rekeySubconfigEntry.second) {
+    // Subconfig did not exist, was created by addOrEdit, so delete and return
+    // 0.
+    ESP_DEBUG(Mn::Debug::Flag::NoSpace)
+        << "No subconfig found with key `" << subconfigKey
+        << "` so rekeying aborted.";
+    configMap_.erase(rekeySubconfigEntry.first);
+    return 0;
+  }
+  // retrieve subconfig
+  auto rekeySubconfig = rekeySubconfigEntry.first->second;
+  if (rekeySubconfig->getNumValues() == 0) {
+    // Subconfig exists but has no values defined, so no rekeying possible
+    ESP_DEBUG(Mn::Debug::Flag::NoSpace)
+        << "Subconfig with key `" << subconfigKey
+        << "` has no values, so no rekeying accomplished.";
+    return 0;
+  }
+  // rekey subconfig and return the number of values affected
+  return rekeySubconfig->rekeyAllValues();
+
+}  // Configuration::rekeySubconfig
 
 int Configuration::findValueInternal(const Configuration& config,
                                      const std::string& key,