From 6d5d67949ed929465f7e8ced37dfce4682c35c42 Mon Sep 17 00:00:00 2001
From: Arnaud TANGUY <arn.tanguy@gmail.com>
Date: Tue, 16 Mar 2021 13:50:18 +0900
Subject: [PATCH 1/2] [panel] Recurcursively resolve allOf property

---
 mc_rtc_rviz_panel/src/Schema.cpp | 17 +++++++++++++----
 mc_rtc_rviz_panel/src/Schema.h   |  4 ++++
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/mc_rtc_rviz_panel/src/Schema.cpp b/mc_rtc_rviz_panel/src/Schema.cpp
index 0b206ee..332d522 100644
--- 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"))
   {
@@ -57,7 +57,11 @@ 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
       {
@@ -65,14 +69,19 @@ Schema::Schema(const mc_rtc::Configuration & s, const std::string & source, cons
       }
     }
     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
index e76f629..c2f691e 100644
--- 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;

From 9cdbbe7c11d0de672fa061001f1888d214e53285 Mon Sep 17 00:00:00 2001
From: Arnaud TANGUY <arn.tanguy@gmail.com>
Date: Wed, 17 Mar 2021 22:06:53 +0900
Subject: [PATCH 2/2] [ci] Make sure to install qt5 on MacOS

---
 .github/workflows/build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 8baaec0..681d848 100644
--- 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