Feat/Extend type formatting (#171)

# Description * Add enum, std::array and std::unordered_map to type formatting * Extend concepts ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## 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. - [ ] I updated the README and related documentation.
olympus-robotics · Sep 24, 2024 · 9272bce · 9272bce
1 parent 48a9be9
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Showing 6 changed files with 291 additions and 63 deletions.
diff --git a/modules/types/include/hephaestus/types/type_formatting.h b/modules/types/include/hephaestus/types/type_formatting.h
@@ -10,28 +10,66 @@
 
 #include <fmt/chrono.h>
 #include <fmt/format.h>
+#include <magic_enum.hpp>
 #include <range/v3/view/zip.hpp>
 
+#include "hephaestus/utils/concepts.h"
+
 namespace heph::types {
 
 //=================================================================================================
-// Timepoint
+// Array and Vector
 //=================================================================================================
-// A system clock provides access to time and date.
 template <typename T>
-concept IsSystemClock = std::is_same_v<T, std::chrono::system_clock>;
+concept ArrayOrVectorType = ArrayType<T> || VectorType<T>;
+
+template <ArrayOrVectorType T>
+[[nodiscard]] inline auto toString(const T& vec) -> std::string {
+  std::stringstream ss;
+
+  const auto indices = std::views::iota(0);
+  const auto indexed_vec = ranges::views::zip(indices, vec);
+
+  for (const auto& [index, value] : indexed_vec) {
+    const std::string str = fmt::format("  Index: {}, Value: {}\n", index, value);
+    ss << str;
+  }
+
+  return ss.str();
+}
+
+//=================================================================================================
+// UnorderedMap
+//=================================================================================================
+template <UnorderedMapType T>
+[[nodiscard]] inline auto toString(const T& umap) -> std::string {
+  std::stringstream ss;
+
+  for (const auto& [key, value] : umap) {
+    ss << "  Key: " << key << ", Value: " << value << '\n';
+  }
+
+  return ss.str();
+}
+
+//=================================================================================================
+// Enum
+//=================================================================================================
+template <EnumType T>
+[[nodiscard]] inline auto toString(T value) -> std::string_view {
+  return magic_enum::enum_name(value);
+}
 
-template <IsSystemClock T>
+//=================================================================================================
+// ChronoTimePoint
+//=================================================================================================
+
+template <ChronoSystemClockType T>
 [[nodiscard]] inline auto toString(const std::chrono::time_point<T>& timestamp) -> std::string {
   return fmt::format("{:%Y-%m-%d %H:%M:%S}", timestamp);
 }
 
-// A steady clock does not have an anchor point in calendar time. It is only useful for measuring relative
-// time intervals.
-template <typename T>
-concept IsSteadyClock = std::is_same_v<T, std::chrono::steady_clock>;
-
-template <IsSteadyClock T>
+template <ChronoSteadyClockType T>
 [[nodiscard]] inline auto toString(const std::chrono::time_point<T>& timestamp) -> std::string {
   auto duration_since_epoch = timestamp.time_since_epoch();
   auto total_seconds = std::chrono::duration_cast<std::chrono::seconds>(duration_since_epoch).count();
@@ -48,24 +86,4 @@ template <IsSteadyClock T>
   return fmt::format("{}d {:02}h:{:02}m:{:02}.{:09}s", days, hours, minutes, seconds, sub_seconds * SCALER);
 }
 
-//=================================================================================================
-// Vector
-//=================================================================================================
-template <typename T>
-concept IsVector = requires(T t) { std::is_same_v<T, std::vector<typename T::value_type>>; };
-
-template <IsVector T>
-[[nodiscard]] inline auto toString(const T& vec) -> std::string {
-  std::stringstream ss;
-
-  const auto indices = std::views::iota(0);
-  const auto indexed_vec = ranges::views::zip(indices, vec);
-
-  for (const auto& [index, value] : indexed_vec) {
-    const std::string str = fmt::format("  Index: {}, Value: {}\n", index, value);
-    ss << str;
-  }
-
-  return ss.str();
-}
 };  // namespace heph::types
diff --git a/modules/types/tests/type_formatting_tests.cpp b/modules/types/tests/type_formatting_tests.cpp
@@ -3,8 +3,11 @@
 //=================================================================================================
 
 #include <algorithm>
+#include <array>
 #include <chrono>
+#include <cstdint>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 #include <fmt/core.h>
@@ -16,40 +19,45 @@ using namespace ::testing;  // NOLINT(google-build-using-namespace)
 
 namespace heph::types::tests {
 
-// Test assumes sub-second precision of at most nanoseconds.
-TEST(TypeFormattingTests, TimestampFormattingSteadyClock) {
-  const auto timestamp = std::chrono::steady_clock::now();
-  const auto str = fmt::format("{}", toString(timestamp));
-
-  ASSERT_LE(str.length(), 24);
+//=================================================================================================
+// Array
+//=================================================================================================
 
-  const auto it = std::find(str.begin(), str.end(), 'd');
-  ASSERT_TRUE(it != str.end());
-  ASSERT_EQ(*(it + 1), ' ');
-  ASSERT_EQ(*(it + 4), 'h');
-  ASSERT_EQ(*(it + 5), ':');
-  ASSERT_EQ(*(it + 8), 'm');
-  ASSERT_EQ(*(it + 9), ':');
-  ASSERT_EQ(*(it + 12), '.');
-  ASSERT_EQ(str.back(), 's');
+TEST(TypeFormattingTests, ConvertEmptyArray) {
+  const std::array<int, 0> arr = {};
+  const std::string result = toString(arr);
+  EXPECT_EQ(result, "");
 }
 
-// Test assumes sub-second precision of at most nanoseconds.
-TEST(TypeFormattingTests, TimestampFormattingSystemClock) {
-  const auto timestamp = std::chrono::system_clock::now();
-  const auto str = fmt::format("{}", toString(timestamp));
+TEST(TypeFormattingTests, ConvertIntArray) {
+  const std::array<int, 3> arr = { 1, 2, 3 };
+  const std::string result = toString(arr);
+  const std::string expected = "  Index: 0, Value: 1\n"
+                               "  Index: 1, Value: 2\n"
+                               "  Index: 2, Value: 3\n";
+  EXPECT_EQ(result, expected);
+}
 
-  ASSERT_TRUE(str.length() <= 27);
+TEST(TypeFormattingTests, ConvertDoubleArray) {
+  const std::array<double, 3> arr = { 1.1, 2.2, 3.3 };  // NOLINT(cppcoreguidelines-avoid-magic-numbers)
+  const std::string result = toString(arr);
+  const std::string expected = "  Index: 0, Value: 1.1\n"
+                               "  Index: 1, Value: 2.2\n"
+                               "  Index: 2, Value: 3.3\n";
+  EXPECT_EQ(result, expected);
+}
 
-  ASSERT_EQ(str[0], '2');
-  ASSERT_EQ(str[1], '0');
-  ASSERT_EQ(str[4], '-');
-  ASSERT_EQ(str[7], '-');
-  ASSERT_EQ(str[10], ' ');
-  ASSERT_EQ(str[13], ':');
-  ASSERT_EQ(str[16], ':');
-  ASSERT_EQ(str[19], '.');
+TEST(TypeFormattingTests, ConvertStringArray) {
+  const std::array<std::string, 3> arr = { "one", "two", "three" };
+  const std::string result = toString(arr);
+  const std::string expected = "  Index: 0, Value: one\n"
+                               "  Index: 1, Value: two\n"
+                               "  Index: 2, Value: three\n";
+  EXPECT_EQ(result, expected);
 }
+//=================================================================================================
+// Vector
+//=================================================================================================
 
 TEST(TypeFormattingTests, ConvertEmptyVector) {
   const std::vector<int> vec;
@@ -84,4 +92,87 @@ TEST(TypeFormattingTests, ConvertStringVector) {
   EXPECT_EQ(result, expected);
 }
 
+//=================================================================================================
+// UnorderedMap
+//=================================================================================================
+
+TEST(UnorderedMapTests, ToStringEmpty) {
+  const std::unordered_map<int, std::string> empty_umap;
+  EXPECT_EQ(toString(empty_umap), "");
+}
+
+TEST(UnorderedMapTests, ToStringNonEmpty) {
+  const std::unordered_map<int, std::string> umap{ { 1, "one" }, { 3, "three" }, { 2, "two" } };
+
+  const std::vector<std::string> expected_outputs = {
+    "  Key: 1, Value: one\n  Key: 2, Value: two\n  Key: 3, Value: three\n",
+    "  Key: 1, Value: one\n  Key: 3, Value: three\n  Key: 2, Value: two\n",
+    "  Key: 2, Value: two\n  Key: 1, Value: one\n  Key: 3, Value: three\n",
+    "  Key: 2, Value: two\n  Key: 3, Value: three\n  Key: 1, Value: one\n",
+    "  Key: 3, Value: three\n  Key: 1, Value: one\n  Key: 2, Value: two\n",
+    "  Key: 3, Value: three\n  Key: 2, Value: two\n  Key: 1, Value: one\n"
+  };
+
+  const auto actual_output = toString(umap);
+
+  int match_count = 0;
+  for (const auto& expected_output : expected_outputs) {
+    if (actual_output == expected_output) {
+      ++match_count;
+    }
+  }
+
+  EXPECT_EQ(match_count, 1);
+}
+
+//=================================================================================================
+// Enum
+//=================================================================================================
+
+TEST(EnumTests, ToString) {
+  enum class TestEnum : uint8_t { A, B, C };
+  EXPECT_EQ(toString(TestEnum::A), "A");
+  EXPECT_EQ(toString(TestEnum::B), "B");
+  EXPECT_EQ(toString(TestEnum::C), "C");
+}
+
+//=================================================================================================
+// ChronoTimePoint
+//=================================================================================================
+
+// Test assumes sub-second precision of at most nanoseconds.
+TEST(TypeFormattingTests, ChronoTimestampFormattingSteadyClock) {
+  const auto timestamp = std::chrono::steady_clock::now();
+  const auto str = fmt::format("{}", toString(timestamp));
+
+  ASSERT_LE(str.length(), 24);
+
+  const auto it = std::find(str.begin(), str.end(), 'd');
+  ASSERT_TRUE(it != str.end());
+  ASSERT_EQ(*(it + 1), ' ');
+  ASSERT_EQ(*(it + 4), 'h');
+  ASSERT_EQ(*(it + 5), ':');
+  ASSERT_EQ(*(it + 8), 'm');
+  ASSERT_EQ(*(it + 9), ':');
+  ASSERT_EQ(*(it + 12), '.');
+  ASSERT_EQ(str.back(), 's');
+}
+
+// Test assumes sub-second precision of at most nanoseconds.
+TEST(TypeFormattingTests, ChronoTimestampFormattingSystemClock) {
+  const auto timestamp = std::chrono::system_clock::now();
+  const auto str = fmt::format("{}", toString(timestamp));
+
+  ASSERT_TRUE(str.length() <= 27);
+
+  ASSERT_EQ(str[0], '2');
+  ASSERT_EQ(str[1], '0');
+  ASSERT_EQ(str[4], '-');
+  ASSERT_EQ(str[7], '-');
+  ASSERT_EQ(str[10], ' ');
+  ASSERT_EQ(str[13], ':');
+  ASSERT_EQ(str[16], ':');
+  ASSERT_EQ(str[19], '.');
+}
+
 }  // namespace heph::types::tests
diff --git a/modules/types_proto/proto/CMakeLists.txt b/modules/types_proto/proto/CMakeLists.txt
@@ -2,9 +2,7 @@
 # Copyright (C) 2023-2024 HEPHAESTUS Contributors
 # =================================================================================================
 
-set(SOURCES
-    hephaestus/types/proto/dummy_type.proto
-)
+set(SOURCES hephaestus/types/proto/dummy_type.proto)
 
 # To create proto messages in another repository that import `hephaestus` proto messages, see readme.
 define_module_proto_library(NAME types_gen_proto SOURCES ${SOURCES})
diff --git a/modules/utils/include/hephaestus/utils/concepts.h b/modules/utils/include/hephaestus/utils/concepts.h
@@ -11,7 +11,39 @@
 namespace heph {
 
 template <typename T>
-concept ScalarType = requires(T a) { std::is_scalar_v<T>; };
+concept ScalarType = std::is_scalar_v<T>;
+
+template <typename T>
+concept EnumType = std::is_enum_v<T>;
+
+template <typename T>
+concept ArrayType = requires {
+  typename T::value_type;
+  requires std::same_as<T, std::array<typename T::value_type, T().size()>>;
+};
+
+template <typename T>
+concept VectorType = requires {
+  typename T::value_type;
+  typename T::allocator_type;
+  requires std::same_as<T, std::vector<typename T::value_type, typename T::allocator_type>>;
+};
+
+template <typename T>
+concept UnorderedMapType = requires(T t) {
+  typename T::key_type;
+  typename T::mapped_type;
+  typename T::hasher;
+  typename T::key_equal;
+  std::is_same_v<T, std::unordered_map<typename T::key_type, typename T::mapped_type, typename T::hasher,
+                                       typename T::key_equal>>;
+};
+
+template <typename T>
+concept ChronoSystemClockType = std::is_same_v<T, std::chrono::system_clock>;
+
+template <typename T>
+concept ChronoSteadyClockType = std::is_same_v<T, std::chrono::steady_clock>;
 
 /// Types that are convertable to and from a string
 template <typename T>

diff --git a/modules/utils/tests/CMakeLists.txt b/modules/utils/tests/CMakeLists.txt
@@ -2,6 +2,13 @@
 # Copyright (C) 2023-2024 HEPHAESTUS Contributors
 # =================================================================================================
 
+define_module_test(
+  NAME concepts_tests
+  SOURCES concepts_tests.cpp
+  PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
+  PUBLIC_LINK_LIBS ""
+)
+
 define_module_test(
   NAME exception_tests
   SOURCES exception_tests.cpp
@@ -42,4 +49,4 @@ define_module_test(
   SOURCES watchdog_tests.cpp
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
   PUBLIC_LINK_LIBS ""
-)
+)