Merge pull request #28 from ichiro-its/enhancement/use-jitsuyo-utils

 [Sprint 22/23 | PD-421] - [Enhancement] Use Jitsuyo For Utilities

Author: Mobilizes

CMakeLists.txt

@@ -20,6 +20,7 @@ find_package(keisan REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(shisen_interfaces REQUIRED)
+find_package(jitsuyo REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(Protobuf CONFIG REQUIRED)
@@ -39,7 +40,6 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/grpc/call_data_get_image.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_save_capture_setting.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_set_capture_setting.cpp"
-  "src/${PROJECT_NAME}/config/utils/config.cpp"
   "src/${PROJECT_NAME}/utility/capture_setting.cpp"
   "src/${PROJECT_NAME}/utility/interface.cpp"
   "src/${PROJECT_NAME}/node/shisen_cpp_node.cpp"
@@ -72,6 +72,7 @@ ament_target_dependencies(${PROJECT_NAME}
   OpenCV
   rclcpp
   shisen_interfaces
+  jitsuyo
   sensor_msgs
   cv_bridge
   std_msgs
@@ -82,6 +83,7 @@ ament_target_dependencies(${PROJECT_NAME}_exported
   OpenCV
   rclcpp
   shisen_interfaces
+  jitsuyo
   sensor_msgs
   cv_bridge
   std_msgs)

include/shisen_cpp/config/utils/config.hpp

@@ -24,7 +24,6 @@
 #include <rclcpp/rclcpp.hpp>
 #include <shisen_cpp/camera/node/camera_node.hpp>
 #include <shisen_cpp/config/grpc/config.hpp>
-#include <shisen_cpp/config/utils/config.hpp>
 #include <shisen_cpp/utility.hpp>
 
 #include <memory>

include/shisen_cpp/node/shisen_cpp_node.hpp

@@ -8,6 +8,7 @@
   <license>MIT License</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>cv_bridge</depend>
+  <depend>jitsuyo</depend>
   <depend>keisan</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>

package.xml

@@ -24,6 +24,7 @@
 #include <memory>
 #include <nlohmann/json.hpp>
 #include <shisen_cpp/camera/node/camera_node.hpp>
+#include <jitsuyo/config.hpp>
 
 #include <fstream>
 #include <memory>
@@ -199,38 +200,38 @@ void CameraNode::configure_capture_setting(const CaptureSetting & capture_settin
 
 void CameraNode::load_configuration(const std::string & path)
 {
-  std::string ss = path + "capture_settings.json";
-
-  std::ifstream input(ss, std::ifstream::in);
-  if (!input.is_open()) {
-    throw std::runtime_error("Unable to open `" + ss + "`!");
+  nlohmann::json config;
+  if (!jitsuyo::load_config(path, "capture_settings.json", config)) {
+    throw std::runtime_error("Unable to open `" + path + "capture_settings.json`!");
   }
 
-  nlohmann::json config = nlohmann::json::parse(input);
-
   CaptureSetting capture_setting;
 
-  // Get all config
-  for (auto & item : config.items()) {
-    try {
-      if (item.key() == "brightness") {
-        capture_setting.brightness.set(item.value());
-      } else if (item.key() == "contrast") {
-        capture_setting.contrast.set(item.value());
-      } else if (item.key() == "saturation") {
-        capture_setting.saturation.set(item.value());
-      } else if (item.key() == "temperature") {
-        capture_setting.temperature.set(item.value());
-      } else if (item.key() == "exposure") {
-        capture_setting.exposure.set(item.value());
-      } else if (item.key() == "gain") {
-        capture_setting.gain.set(item.value());
-      }
-    } catch (nlohmann::json::parse_error & ex) {
-      throw std::runtime_error("Parse error at byte `" + std::to_string(ex.byte) + "`!");
-    }
+  int setting_brightness;
+  int setting_contrast;
+  int setting_saturation;
+  int setting_temperature;
+  int setting_exposure;
+  int setting_gain;
+
+  if (!jitsuyo::assign_val(config, "brightness", setting_brightness) ||
+    !jitsuyo::assign_val(config, "contrast", setting_contrast) ||
+    !jitsuyo::assign_val(config, "saturation", setting_saturation) ||
+    !jitsuyo::assign_val(config, "temperature", setting_temperature) ||
+    !jitsuyo::assign_val(config, "exposure", setting_exposure) ||
+    !jitsuyo::assign_val(config, "gain", setting_gain))
+  {
+    std::cout << "Error found at section `capture_settings`" << std::endl;
+    throw std::runtime_error("Failed to load config file `" + path + "capture_settings.json`");
   }
 
+  capture_setting.brightness.set(setting_brightness);
+  capture_setting.contrast.set(setting_contrast);
+  capture_setting.saturation.set(setting_saturation);
+  capture_setting.temperature.set(setting_temperature);
+  capture_setting.exposure.set(setting_exposure);
+  capture_setting.gain.set(setting_gain);
+
   configure_capture_setting(capture_setting);
 }
 

src/shisen_cpp/camera/node/camera_node.cpp

@@ -20,9 +20,9 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <shisen_cpp/config/grpc/call_data_get_capture_setting.hpp>
-#include <shisen_cpp/config/utils/config.hpp>
 #include <shisen_interfaces/shisen.grpc.pb.h>
 #include <shisen_interfaces/shisen.pb.h>
+#include <jitsuyo/config.hpp>
 
 namespace shisen_cpp
 {
@@ -46,9 +46,14 @@ void CallDataGetCaptureSetting::WaitForRequest()
 
 void CallDataGetCaptureSetting::HandleRequest()
 {
-  Config config(path_);
+  nlohmann::json data;
+  if (!jitsuyo::load_config(path_, "capture_settings.json", data)) {
+    RCLCPP_ERROR(rclcpp::get_logger("Get config"), "Failed to load config!");
+    return;
+  }
+  std::string capture_setting = data.dump();
   try {
-    reply_.set_json_capture(config.get_capture_setting("capture"));
+    reply_.set_json_capture(capture_setting);
     RCLCPP_INFO(rclcpp::get_logger("Get config"), "config has been sent!");
   } catch (nlohmann::json::exception & e) {
     RCLCPP_ERROR(rclcpp::get_logger("Publish config"), e.what());

src/shisen_cpp/config/grpc/call_data_get_capture_setting.cpp

@@ -21,9 +21,9 @@
 #include <nlohmann/json.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shisen_cpp/config/grpc/call_data_save_capture_setting.hpp>
-#include <shisen_cpp/config/utils/config.hpp>
 #include <shisen_interfaces/shisen.grpc.pb.h>
 #include <shisen_interfaces/shisen.pb.h>
+#include <jitsuyo/config.hpp>
 
 namespace shisen_cpp
 {
@@ -47,13 +47,12 @@ void CallDataSaveCaptureSetting::WaitForRequest()
 
 void CallDataSaveCaptureSetting::HandleRequest()
 {
-  Config config(path_);
   try {
     std::string json_string = request_.json_capture();
     std::replace(json_string.begin(), json_string.end(), '\\', ' ');
     nlohmann::json capture_data = nlohmann::json::parse(json_string);
 
-    config.save_capture_setting(capture_data);
+    jitsuyo::save_config(path_, "capture_settings.json", capture_data);
     RCLCPP_INFO(rclcpp::get_logger("Save config"), "config has been saved!  ");
   } catch (nlohmann::json::exception & e) {
     RCLCPP_ERROR(rclcpp::get_logger("Save config"), e.what());

src/shisen_cpp/config/grpc/call_data_save_capture_setting.cpp

@@ -20,9 +20,9 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <shisen_cpp/config/grpc/call_data_set_capture_setting.hpp>
-#include <shisen_cpp/config/utils/config.hpp>
 #include <shisen_interfaces/shisen.grpc.pb.h>
 #include <shisen_interfaces/shisen.pb.h>
+#include <nlohmann/json.hpp>
 
 namespace shisen_cpp
 {
@@ -46,7 +46,6 @@ void CallDataSetCaptureSetting::WaitForRequest()
 
 void CallDataSetCaptureSetting::HandleRequest()
 {
-  Config config(path_);
   try {
     CaptureSetting capture_setting;
 

src/shisen_cpp/config/grpc/call_data_set_capture_setting.cpp

@@ -25,7 +25,7 @@
 #include <shisen_cpp/config/grpc/call_data_save_capture_setting.hpp>
 #include <shisen_cpp/config/grpc/call_data_set_capture_setting.hpp>
 #include <shisen_cpp/config/grpc/config.hpp>
-#include <shisen_cpp/config/utils/config.hpp>
+#include <jitsuyo/config.hpp>
 
 using grpc::ServerBuilder;
 using namespace std::chrono_literals;
@@ -50,9 +50,13 @@ void ConfigGrpc::SignIntHandler(int signum)
 
 void ConfigGrpc::Run(const std::string & path, std::shared_ptr<camera::CameraNode> camera_node)
 {
-  Config config(path);
+  nlohmann::json grpc_config;
+  if (!jitsuyo::load_config(path, "grpc.json", grpc_config)) {
+    RCLCPP_ERROR(rclcpp::get_logger("ConfigGrpc"), "Failed to load grpc config");
+    return;
+  }
   std::string server_address =
-    absl::StrFormat("0.0.0.0:%d", config.get_grpc_config()["port"].get<uint16_t>());
+    absl::StrFormat("0.0.0.0:%d", grpc_config["port"].get<uint16_t>());
 
   ServerBuilder builder;
   builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());