AutoAPMS
Streamlining behaviors in ROS 2
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yaml.hpp
1// Copyright 2024 Robin Müller
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// https://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#pragma once
16
17#include <algorithm>
18#include <map>
19#include <string>
20
21#include "auto_apms_util/exceptions.hpp"
22#include "auto_apms_util/filesystem.hpp"
23#include "yaml-cpp/yaml.h"
24
27
32#define AUTO_APMS_UTIL_DEFINE_YAML_CONVERSION_METHODS(ClassType) \
33 static ClassType fromFile(const std::string & path) \
34 { \
35 if (auto_apms_util::isFileEmpty(path)) return ClassType(); \
36 try { \
37 return YAML::LoadFile(path).as<ClassType>(); \
38 } catch (const YAML::ParserException & e) { \
39 throw auto_apms_util::exceptions::YAMLFormatError( \
40 "Format error when loading YAML file " + path + ": " + std::string(e.what())); \
41 } \
42 } \
43 static ClassType decode(const std::string & str) \
44 { \
45 const bool empty = std::all_of(str.begin(), str.end(), [](unsigned char c) { return std::isspace(c); }); \
46 return empty ? ClassType() : YAML::Load(str).as<ClassType>(); \
47 } \
48 std::string encode() const \
49 { \
50 YAML::Node root; \
51 root = *this; \
52 YAML::Emitter out; \
53 out << root; \
54 if (!out.good()) { \
55 throw std::runtime_error("Error trying to encode to YAML: " + out.GetLastError()); \
56 } \
57 return out.c_str(); \
58 }
59