Feat/dummy type serialization (#136)

# Description Module **types_proto** provides mapping of **types** data structures to proto IDL. ## Detailed description Protobuf is used to serialize all data. Protobuf files are human readable, and export to JSON is supported out of the box. This allows to dump data into files and read it back later in a human readable format. ### Goals * proto IDL files for a type are feature complete, i.e. serializing and deserializing leads to the exact same data structure * provide generic helper functions for serialization ### Non-goals * similar to module **types**, **types_proto** is meant to be generic, and project specific (non-generalizable) methods shall not be added ### Requirements * Types are independent of their serialization method, but the module **types_proto** depends on module **types**. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist before requesting a review - [x] I have performed a self-review of my code. - [x] If it is a core feature, I have added thorough tests. - [ ] If this is a new component I have added examples. - [x] I updated the README and related documentation. --------- Co-authored-by: Filippo Brizzi <[email protected]> Co-authored-by: Florian Tschopp <[email protected]>
olympus-robotics · Sep 3, 2024 · 6257f1e · 6257f1e
1 parent 76d596a
commit 6257f1e
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Showing 14 changed files with 364 additions and 21 deletions.
diff --git a/modules/types/CMakeLists.txt b/modules/types/CMakeLists.txt
@@ -4,8 +4,8 @@
 
 declare_module(
   NAME types
-  DEPENDS_ON_MODULES random utils
-  DEPENDS_ON_EXTERNAL_PROJECTS fmt magic_enum
+  DEPENDS_ON_MODULES random
+  DEPENDS_ON_EXTERNAL_PROJECTS fmt magic_enum range-v3
 )
 
 find_package(fmt REQUIRED)
@@ -20,7 +20,7 @@ set(SOURCES src/dummy_type.cpp src/type_formatting.cpp README.md include/hephaes
 # library target
 define_module_library(
   NAME types
-  PUBLIC_LINK_LIBS fmt::fmt magic_enum::magic_enum range-v3::range-v3 hephaestus::random hephaestus::utils
+  PUBLIC_LINK_LIBS fmt::fmt magic_enum::magic_enum range-v3::range-v3 hephaestus::random
   PRIVATE_LINK_LIBS ""
   SOURCES ${SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>

diff --git a/modules/types/include/hephaestus/types/dummy_type.h b/modules/types/include/hephaestus/types/dummy_type.h
@@ -4,10 +4,12 @@
 
 #pragma once
 
-#include <chrono>
+#include <cstddef>
 #include <cstdint>
 #include <iostream>
 #include <random>
+#include <string>
+#include <vector>
 
 #include <fmt/ostream.h>
 #include <magic_enum.hpp>
@@ -54,11 +56,8 @@ struct DummyType {
 
   DummyEnum dummy_enum{};
 
-  std::chrono::system_clock::time_point dummy_timestamp_system_clock;
-  std::chrono::steady_clock::time_point dummy_timestamp_steady_clock;
-
-  std::string dummy_string;
-  std::vector<int32_t> dummy_vector;
+  std::string dummy_string{};
+  std::vector<int32_t> dummy_vector{};
 };
 
 auto operator<<(std::ostream& os, const DummyType& dummy_type) -> std::ostream&;

diff --git a/modules/types/include/hephaestus/types/type_formatting.h b/modules/types/include/hephaestus/types/type_formatting.h
@@ -58,11 +58,12 @@ template <IsVector T>
 [[nodiscard]] inline auto toString(const T& vec) -> std::string {
   std::stringstream ss;
 
-  auto indices = std::views::iota(0);
-  auto indexed_vec = ranges::views::zip(indices, vec);
+  const auto indices = std::views::iota(0);
+  const auto indexed_vec = ranges::views::zip(indices, vec);
 
-  for (auto [index, value] : indexed_vec) {
-    ss << "  Index: " << index << ", Value: " << value << '\n';
+  for (const auto& [index, value] : indexed_vec) {
+    const std::string str = fmt::format("  Index: {}, Value: {}\n", index, value);
+    ss << str;
   }
 
   return ss.str();

diff --git a/modules/types/src/dummy_type.cpp b/modules/types/src/dummy_type.cpp
@@ -31,12 +31,13 @@ auto DummyPrimitivesType::random(std::mt19937_64& mt) -> DummyPrimitivesType {
 
 auto operator<<(std::ostream& os, const DummyPrimitivesType& dummy_primitives_type) -> std::ostream& {
   return os << "DummyPrimitivesType{"
+            << "\n"
             << "  dummy_bool=" << dummy_primitives_type.dummy_bool << "\n"
-            << "  dummy_int8_t=" << dummy_primitives_type.dummy_int8_t << "\n"
+            << "  dummy_int8_t=" << static_cast<int>(dummy_primitives_type.dummy_int8_t) << "\n"
             << "  dummy_int16_t=" << dummy_primitives_type.dummy_int16_t << "\n"
             << "  dummy_int32_t=" << dummy_primitives_type.dummy_int32_t << "\n"
             << "  dummy_int64_t=" << dummy_primitives_type.dummy_int64_t << "\n"
-            << "  dummy_uint8_t=" << dummy_primitives_type.dummy_uint8_t << "\n"
+            << "  dummy_uint8_t=" << static_cast<int>(dummy_primitives_type.dummy_uint8_t) << "\n"
             << "  dummy_uint16_t=" << dummy_primitives_type.dummy_uint16_t << "\n"
             << "  dummy_uint32_t=" << dummy_primitives_type.dummy_uint32_t << "\n"
             << "  dummy_uint64_t=" << dummy_primitives_type.dummy_uint64_t << "\n"
@@ -48,18 +49,15 @@ auto operator<<(std::ostream& os, const DummyPrimitivesType& dummy_primitives_ty
 auto DummyType::random(std::mt19937_64& mt) -> DummyType {
   return { .dummy_primitives_type = random::random<decltype(dummy_primitives_type)>(mt),
            .dummy_enum = random::random<decltype(dummy_enum)>(mt),
-           .dummy_timestamp_system_clock = random::random<decltype(dummy_timestamp_system_clock)>(mt),
-           .dummy_timestamp_steady_clock = random::random<decltype(dummy_timestamp_steady_clock)>(mt),
            .dummy_string = random::random<decltype(dummy_string)>(mt),
            .dummy_vector = random::random<decltype(dummy_vector)>(mt) };
 }
 
 auto operator<<(std::ostream& os, const DummyType& dummy_type) -> std::ostream& {
   return os << "DummyType{"
+            << "\n"
             << "  dummy_primitives_type={" << dummy_type.dummy_primitives_type << "}\n"
             << "  dummy_enum=" << magic_enum::enum_name(dummy_type.dummy_enum) << "\n"
-            << "  dummy_timestamp_system_clock=" << toString(dummy_type.dummy_timestamp_system_clock) << "\n"
-            << "  dummy_timestamp_steady_clock=" << toString(dummy_type.dummy_timestamp_steady_clock) << "\n"
             << "  dummy_string=" << dummy_type.dummy_string << "\n"
             << "  dummy_vector=" << toString(dummy_type.dummy_vector) << "\n"
             << "}";

diff --git a/modules/types/tests/type_formatting_tests.cpp b/modules/types/tests/type_formatting_tests.cpp
@@ -12,8 +12,7 @@
 
 #include "hephaestus/types/type_formatting.h"
 
-// NOLINTNEXTLINE(google-build-using-namespace)
-using namespace ::testing;
+using namespace ::testing;  // NOLINT(google-build-using-namespace)
 
 namespace heph::types::tests {
 

diff --git a/modules/types_proto/CMakeLists.txt b/modules/types_proto/CMakeLists.txt
@@ -0,0 +1,28 @@
+# =================================================================================================
+# Copyright (C) 2023-2024 HEPHAESTUS Contributors
+# =================================================================================================
+
+declare_module(
+  NAME types_proto
+  DEPENDS_ON_MODULES random serdes types
+  DEPENDS_ON_EXTERNAL_PROJECTS ""
+)
+
+add_subdirectory(proto)
+
+# library sources
+set(SOURCES src/dummy_type.cpp README.md include/hephaestus/types_proto/dummy_type.h)
+
+# library target
+define_module_library(
+  NAME types_proto
+  PUBLIC_LINK_LIBS hephaestus::random hephaestus::serdes hephaestus::types hephaestus::types_gen_proto
+  PRIVATE_LINK_LIBS ""
+  SOURCES ${SOURCES}
+  PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+  PRIVATE_INCLUDE_PATHS ""
+  SYSTEM_PRIVATE_INCLUDE_PATHS ""
+)
+
+# Subprojects
+add_subdirectory(tests)
diff --git a/modules/types_proto/README.md b/modules/types_proto/README.md
@@ -0,0 +1,19 @@
+# README: types_protobuf
+
+## Brief
+
+Module **types_protobuf** provides mapping of **types** data structures to proto IDL.
+
+## Detailed description
+
+Protobuf is used to serialize all data. Protobuf files are human readable, and export to JSON is supported out of the box. This allows to dump data into files and read it back later in a human readable format.
+
+### Goals
+* proto IDL files for a type are feature complete, i.e. serializing and deserializing leads to the exact same data structure
+* provide generic helper functions for serialization (e.g for `std::chrono::time_point`)
+
+### Non-goals
+* similar to module **types**, **types_protobuf** is meant to be generic, and project specific (non-generalizable) methods shall not be added
+
+### Requirements
+* Types are independent of their serialization method, but the module **types_protobuf** depends on module **types**.
diff --git a/modules/types_proto/include/hephaestus/types_proto/dummy_type.h b/modules/types_proto/include/hephaestus/types_proto/dummy_type.h
@@ -0,0 +1,31 @@
+//=================================================================================================
+// Copyright (C) 2023-2024 HEPHAESTUS Contributors
+//=================================================================================================
+
+#pragma once
+
+#include "hephaestus/serdes/protobuf/concepts.h"
+#include "hephaestus/types/dummy_type.h"
+#include "hephaestus/types/proto/dummy_type.pb.h"
+
+namespace heph::serdes::protobuf {
+template <>
+struct ProtoAssociation<types::DummyPrimitivesType> {
+  using Type = types::proto::DummyPrimitivesType;
+};
+
+template <>
+struct ProtoAssociation<types::DummyType> {
+  using Type = types::proto::DummyType;
+};
+}  // namespace heph::serdes::protobuf
+
+namespace heph::types {
+auto toProto(proto::DummyPrimitivesType& proto_dummy_primitives_type,
+             const DummyPrimitivesType& dummy_primitives_type) -> void;
+auto fromProto(const proto::DummyPrimitivesType& proto_dummy_primitives_type,
+               DummyPrimitivesType& dummy_primitives_type) -> void;
+
+auto toProto(proto::DummyType& proto_dummy_type, const DummyType& dummy_type) -> void;
+auto fromProto(const proto::DummyType& proto_dummy_type, DummyType& dummy_type) -> void;
+}  // namespace heph::types
diff --git a/modules/types_proto/proto/CMakeLists.txt b/modules/types_proto/proto/CMakeLists.txt
@@ -0,0 +1,9 @@
+# =================================================================================================
+# Copyright (C) 2023-2024 HEPHAESTUS Contributors
+# =================================================================================================
+
+set(SOURCES
+    hephaestus/types/proto/dummy_type.proto
+)
+
+define_module_proto_library(NAME types_gen_proto SOURCES ${SOURCES})
diff --git a/modules/types_proto/proto/buf.yaml b/modules/types_proto/proto/buf.yaml
@@ -0,0 +1,13 @@
+version: v1
+breaking:
+  use:
+    - FILE
+  except:
+    # https://docs.buf.build/breaking/rules#file_no_delete
+    # hephaestus is monorepo, build system will fail the build if this file is used.
+    - FILE_NO_DELETE
+lint:
+  use:
+    - DEFAULT
+  except:
+    - PACKAGE_VERSION_SUFFIX
diff --git a/modules/types_proto/proto/hephaestus/types/proto/dummy_type.proto b/modules/types_proto/proto/hephaestus/types/proto/dummy_type.proto
@@ -0,0 +1,43 @@
+//=================================================================================================
+// Copyright (C) 2023-2024 HEPHAESTUS Contributors
+//=================================================================================================
+
+syntax = "proto3";
+
+package heph.types.proto;
+
+enum DummyTypeDummyEnum {
+  A = 0;
+  B = 1;
+  C = 2;
+  D = 3;
+  E = 4;
+  F = 5;
+  G = 6;
+}
+
+message DummyPrimitivesType {
+  bool dummy_bool = 1;
+
+  int32 dummy_int8_t = 2;
+  int32 dummy_int16_t = 3;
+  int32 dummy_int32_t = 4;
+  int64 dummy_int64_t = 5;
+
+  uint32 dummy_uint8_t = 6;
+  uint32 dummy_uint16_t = 7;
+  uint32 dummy_uint32_t = 8;
+  uint64 dummy_uint64_t = 9;
+
+  float dummy_float = 10;
+  double dummy_double = 11;
+}
+
+message DummyType {
+  DummyPrimitivesType dummy_primitives_type = 1;
+
+  DummyTypeDummyEnum dummy_enum = 2;
+
+  string dummy_string = 3;
+  repeated int32 dummy_vector = 4;
+}