Merge pull request #19 from arntanguy/topic/RecursiveAllOf

jrl-umi3218 · Mar 25, 2021 · 9c81718 · 9c81718
2 parents cfcc34d + 9cdbbe7
commit 9c81718
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Showing 3 changed files with 19 additions and 6 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -84,7 +84,7 @@ jobs:
       run: |
         export PATH=/usr/local/opt/qt/bin:$PATH
         echo "PATH=${PATH}" >> $GITHUB_ENV
-        export CMAKE_PREFIX_PATH=/usr/local/opt/qt:${CMAKE_PREFIX_PATH}
+        export CMAKE_PREFIX_PATH=/usr/local/opt/qt@5:${CMAKE_PREFIX_PATH}
         echo "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
     - name: Install dependencies
       uses: jrl-umi3218/github-actions/install-dependencies@master
@@ -94,7 +94,7 @@ jobs:
         ubuntu: |
           apt: cython cython3 python-nose python3-nose python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools libeigen3-dev doxygen doxygen-latex libboost-all-dev libtinyxml2-dev libgeos++-dev libnanomsg-dev libyaml-cpp-dev libltdl-dev qt5-default libqwt-qt5-dev
         macos: |
-          brew: eigen boost tinyxml2 geos nanomsg yaml-cpp pkg-config libtool qt qwt gcc
+          brew: eigen boost tinyxml2 geos nanomsg yaml-cpp pkg-config libtool qt5 qwt gcc
           pip: Cython coverage nose numpy
           github:
             - path: jrl-umi3218/mc_rtc_data

diff --git a/mc_rtc_rviz_panel/src/Schema.cpp b/mc_rtc_rviz_panel/src/Schema.cpp
@@ -47,7 +47,7 @@ Schema::Schema(const std::vector<Schema> & schemas)
   };
 }
 
-Schema::Schema(const mc_rtc::Configuration & s, const std::string & source, const std::string & title, bool required_in)
+mc_rtc::Configuration Schema::resolveAllOf(const mc_rtc::Configuration & s, const std::string & source) const
 {
   if(s.has("allOf"))
   {
@@ -57,22 +57,31 @@ Schema::Schema(const mc_rtc::Configuration & s, const std::string & source, cons
       auto si = s("allOf")[i];
       if(si.has("$ref"))
       {
-        schema.load(mc_rtc::Configuration{ref_path(source, si("$ref"))});
+        schema.load(resolveAllOf(mc_rtc::Configuration{ref_path(source, si("$ref"))}, source));
+      }
+      else if(si.has("allOf"))
+      {
+        schema.load(resolveAllOf(si, source));
       }
       else
       {
         schema.load(si);
       }
     }
     schema.remove("allOf");
-    init(schema, source, title, required_in);
+    return schema;
   }
   else
   {
-    init(s, source, title, required_in);
+    return s;
   }
 }
 
+Schema::Schema(const mc_rtc::Configuration & s, const std::string & source, const std::string & title, bool required_in)
+{
+  init(resolveAllOf(s, source), source, title, required_in);
+}
+
 void Schema::init(const mc_rtc::Configuration & s,
                   const std::string & source,
                   const std::string & title,

diff --git a/mc_rtc_rviz_panel/src/Schema.h b/mc_rtc_rviz_panel/src/Schema.h
@@ -62,6 +62,10 @@ struct Schema
 
   static SchemaStore & store();
 
+private:
+  /** Recursively resolve allOf property */
+  mc_rtc::Configuration resolveAllOf(const mc_rtc::Configuration & s, const std::string & source) const;
+
 private:
   std::string title_;
   bool is_object_ = false;