Merge pull request #394 from gergondet/topic/ImprovedForms

include/mc_control/ControllerClient.h

@@ -574,7 +574,10 @@ struct MC_CONTROL_CLIENT_DLLAPI ControllerClient
   {
   }
 
-  /** An array input within a form */
+  /** An array input within a form
+   *
+   * This is kept for backward compatibility, mc_rtc never calls this version and you should implement the full version
+   */
   virtual void form_array_input(const ElementId & formId,
                                 const std::string & name,
                                 bool required,
@@ -585,6 +588,18 @@ struct MC_CONTROL_CLIENT_DLLAPI ControllerClient
     form_array_input(formId, name, required, default_, fixed_size);
   }
 
+  /** An array input within a form */
+  virtual void form_array_input(const ElementId & formId,
+                                const std::string & name,
+                                bool required,
+                                const std::vector<std::string> & /*labels*/,
+                                const Eigen::VectorXd & default_,
+                                bool fixed_size,
+                                bool default_from_user)
+  {
+    form_array_input(formId, name, required, default_, fixed_size, default_from_user);
+  }
+
   /** A combo input within a form
    *
    * This is kept for backward compatibility, mc_rtc never calls this version and you should implement the full version
@@ -643,6 +658,142 @@ struct MC_CONTROL_CLIENT_DLLAPI ControllerClient
   {
   }
 
+  /** A 3D point that can be edited within a Form
+   *
+   * \p formId Identifier of the form
+   *
+   * \p name Name of the entry
+   *
+   * \p required If true, it must hold a value when the form is sent
+   *
+   * \p default_ Default value in the form
+   *
+   * \p default_from_user Default is provided by the user
+   *
+   * \p interactive Should display an interactive marker
+   */
+  virtual void form_point3d_input(const ElementId & /*formId*/,
+                                  const std::string & /*name*/,
+                                  bool /*required*/,
+                                  const Eigen::Vector3d & /*default_*/,
+                                  bool /*default_from_user*/,
+                                  bool /*interactive*/)
+  {
+  }
+
+  /** A rotation that can be edited within a Form
+   *
+   * Note: this requires a PTransformd to place the rotation in space but only the rotation should be provided in the
+   * callback
+   *
+   * \p formId Identifier of the form
+   *
+   * \p name Name of the entry
+   *
+   * \p required If true, it must hold a value when the form is sent
+   *
+   * \p default_ Default value in the form
+   *
+   * \p default_from_user Default is provided by the user
+   *
+   * \p interactive Should display an interactive marker
+   */
+  virtual void form_rotation_input(const ElementId & /*formId*/,
+                                   const std::string & /*name*/,
+                                   bool /*required*/,
+                                   const sva::PTransformd & /*default_*/,
+                                   bool /*default_from_user*/,
+                                   bool /*interactive*/)
+  {
+  }
+
+  /** A transform that can be edited within a Form
+   *
+   * \p formId Identifier of the form
+   *
+   * \p name Name of the entry
+   *
+   * \p required If true, it must hold a value when the form is sent
+   *
+   * \p default_ Default value in the form
+   *
+   * \p default_from_user Default is provided by the user
+   *
+   * \p interactive Should display an interactive marker
+   */
+  virtual void form_transform_input(const ElementId & /*formId*/,
+                                    const std::string & /*name*/,
+                                    bool /*required*/,
+                                    const sva::PTransformd & /*default_*/,
+                                    bool /*default_from_user*/,
+                                    bool /*interactive*/)
+  {
+  }
+
+  /** Starts a form within a form
+   *
+   * After this call, all calls related to form elements must be interpreted as belonging to this sub-form
+   *
+   * \p name Name of the object
+   *
+   * \p required If true, it must hold a value when the form is sent
+   */
+  virtual void start_form_object_input(const std::string & /*name*/, bool /*required*/) {}
+
+  /** Pendant to \ref start_form_object_input
+   *
+   * After this call, all calls related to form elements must be interpreted as belonging to the form's parent
+   *
+   */
+  virtual void end_form_object_input() {}
+
+  /** Starts a generic array input
+   *
+   * The next call related to form elements must be interpreted as describing the type of members the array expects
+   *
+   * \p name Name of the array this generates
+   *
+   * \p required If true, it must hold a value (can be an empty array) when the form is sent
+   *
+   * \p data Existing data in the array, must be sent along with the form if provided
+   */
+  virtual void start_form_generic_array_input(const std::string & /*name*/,
+                                              bool /*required*/,
+                                              std::optional<std::vector<Configuration>> /*data*/)
+  {
+  }
+
+  /** Pendant to \ref start_form_generic_array_input
+   *
+   * After this call, all calls related to form elements must be interpreted as belonging to the form's parent
+   *
+   */
+  virtual void end_form_generic_array_input() {}
+
+  /** Start a one-of input within a form
+   *
+   * After this call, each call related to form elements is one option offered by the one-of selector. The name of the
+   * element should be used to distinguish the selected type
+   *
+   * \p name Name of the one-of selection
+   *
+   * \p required If true, it must hold a valid value when sent
+   *
+   * \p data Active data
+   */
+  virtual void start_form_one_of_input(const std::string & /*name*/,
+                                       bool /*required*/,
+                                       const std::optional<std::pair<size_t, Configuration>> & /*data*/)
+  {
+  }
+
+  /** Pendant to \ref start_form_one_of_input
+   *
+   * After this call, all calls related to form elements must be interpreted as belonging to the form's parent
+   *
+   */
+  virtual void end_form_one_of_input() {}
+
   /** Called when new plot data arrives
    *
    * This should open a new plotting window with the provided title.

include/mc_rtc/Configuration.h

@@ -1481,9 +1481,9 @@ struct MC_RTC_UTILS_DLLAPI Configuration
 
   /*! \brief Add a variant object into the JSON document
    *
-   * The variant is written as [value.index(), std::get<value.index()>(value)] if it holds a value
+   * The variant is written as [value.index(), std::get<value.index()>(value)]
    *
-   * Otherwise it is written as [std::variant_npos, std::variant_npos]
+   * \throws If the variant is in valueless state
    *
    * \param key Key of the element
    *
@@ -1494,11 +1494,7 @@ struct MC_RTC_UTILS_DLLAPI Configuration
   {
     Configuration v = array(key, 2);
     v.push(value.index());
-    if(value.index() != std::variant_npos)
-    {
-      std::visit([&v](const auto & hold) { v.push(hold); }, value);
-    }
-    else { v.push(value.index()); }
+    std::visit([&v](const auto & hold) { v.push(hold); }, value);
   }
 
   /** Integral type conversions
@@ -1628,9 +1624,9 @@ struct MC_RTC_UTILS_DLLAPI Configuration
 
   /*! \brief Push a variant object into the JSON document
    *
-   * The variant is written as [value.index(), std::get<value.index()>(value)] if it holds a value
+   * The variant is written as [value.index(), std::get<value.index()>(value)]
    *
-   * Otherwise it is written as [std::variant_npos, std::variant_npos]
+   * \throws If the variant is in valueless state
    *
    * \param key Key of the element
    *
@@ -1641,11 +1637,7 @@ struct MC_RTC_UTILS_DLLAPI Configuration
   {
     Configuration v = array(2);
     v.push(value.index());
-    if(value.index() != std::variant_npos)
-    {
-      std::visit([&v](const auto & hold) { v.push(hold); }, value);
-    }
-    else { v.push(value.index()); }
+    std::visit([&v](const auto & hold) { v.push(hold); }, value);
   }
 
   /** Remove a given element

include/mc_rtc/MessagePackBuilder.h

@@ -14,13 +14,14 @@
 #include <set>
 #include <string>
 #include <type_traits>
+#include <variant>
 #include <vector>
 
 namespace mc_rtc
 {
 
 struct Configuration;
-
+struct MessagePackBuilder;
 struct MessagePackBuilderImpl;
 
 namespace internal
@@ -61,6 +62,20 @@ constexpr bool is_like_uint32_t = is_like<uint32_t, T>();
 template<typename T>
 constexpr bool is_like_uint64_t = is_like<uint64_t, T>();
 
+template<typename T, typename = void>
+struct has_write_builder : std::false_type
+{
+};
+
+template<typename T>
+struct has_write_builder<T, std::void_t<decltype(std::declval<const T &>().write(std::declval<MessagePackBuilder &>()))>>
+: std::true_type
+{
+};
+
+template<typename T>
+static inline constexpr bool has_write_builder_v = has_write_builder<T>::value;
+
 } // namespace internal
 
 /** Helper class to build a MessagePack message
@@ -133,31 +148,31 @@ struct MC_RTC_UTILS_DLLAPI MessagePackBuilder
 
   /** Write an Eigen::Vector2d
    *
-   * Serializes as an array of size 2
+   * Serialized as an array of size 2
    */
   void write(const Eigen::Vector2d & v);
 
   /** Write an Eigen::Vector3d
    *
-   * Serializes as an array of size 3
+   * Serialized as an array of size 3
    */
   void write(const Eigen::Vector3d & v);
 
   /** Write an Eigen::Vector4d
    *
-   * Serializes as an array of size 4
+   * Serialized as an array of size 4
    */
   void write(const Eigen::Vector4d & v);
 
   /** Write an Eigen::Vector6d
    *
-   * Serializes as an array of size 6
+   * Serialized as an array of size 6
    */
   void write(const Eigen::Vector6d & v);
 
   /** Write an Eigen::VectorXd
    *
-   * Serializes as an array of size X
+   * Serialized as an array of size X
    */
   void write(const Eigen::VectorXd & v);
 
@@ -172,19 +187,19 @@ struct MC_RTC_UTILS_DLLAPI MessagePackBuilder
 
   /** Write an Eigen::Quaterniond
    *
-   * Serializes as an array of size X
+   * Serialized as an array of size 4
    */
   void write(const Eigen::Quaterniond & q);
 
   /** Write an Eigen::Matrix3d
    *
-   * Serializes as an array of size 9
+   * Serialized as an array of size 9
    */
   void write(const Eigen::Matrix3d & m);
 
   /** Write an sva::PTransformd
    *
-   * Serializes as an array of size 12 (Matrix3d + Vector3d)
+   * Serialized as an array of size 12 (Matrix3d + Vector3d)
    */
   void write(const sva::PTransformd & pt);
 
@@ -208,7 +223,7 @@ struct MC_RTC_UTILS_DLLAPI MessagePackBuilder
 
   /** Write an mc_rtc::Configuration
    *
-   * Serialied as the JSON data it holds
+   * Serialized as the JSON data it holds
    */
   void write(const mc_rtc::Configuration & config);
 
@@ -227,6 +242,13 @@ struct MC_RTC_UTILS_DLLAPI MessagePackBuilder
     else { static_assert(!std::is_same_v<T, T>, "T is integral but has an unsupported size"); }
   }
 
+  /** Write \tparam T to MessagePack if T implements T::write(MessagePackBuilder &) const */
+  template<typename T, typename = std::enable_if_t<internal::has_write_builder_v<T>>>
+  void write(const T & value)
+  {
+    value.write(*this);
+  }
+
   /** @} */
   /* End Add data to the MessagePack section (advanced) */
 
@@ -297,6 +319,16 @@ struct MC_RTC_UTILS_DLLAPI MessagePackBuilder
     finish_array();
   }
 
+  /** Write an std::variant<Args...> */
+  template<typename... Args>
+  void write(const std::variant<Args...> & value)
+  {
+    start_array(2);
+    write(value.index());
+    std::visit([this](const auto & v) { write(v); }, value);
+    finish_array();
+  }
+
   /** Write an Eigen::Ref */
   template<typename Type, int Options, typename StrideType>
   void write(const Eigen::Ref<Type, Options, StrideType> & v)