Merge pull request #677 from robotology/fixvecparenthesis

Add support for loading vector from configuration files with parenthesis

libraries/common/include/GazeboYarpPlugins/common.h

@@ -9,6 +9,11 @@
 
 #include <string>
 #include <cmath>
+#include <vector>
+
+#include <yarp/os/LogStream.h>
+#include <yarp/os/Searchable.h>
+#include <yarp/os/Value.h>
 
 namespace GazeboYarpPlugins {
 
@@ -70,8 +75,89 @@ namespace GazeboYarpPlugins {
         if (pos == std::string::npos) {
             return fullString;
         } else {
-            return fullString.substr(pos + separator.size() - 1); 
+            return fullString.substr(pos + separator.size() - 1);
+        }
+    }
+
+    template<typename T>
+    inline T readElementFromValue(yarp::os::Value& val);
+
+    template<>
+    inline double readElementFromValue<double>(yarp::os::Value& val)
+    {
+        return val.asFloat64();
+    }
+
+    template<>
+    inline std::string readElementFromValue<std::string>(yarp::os::Value& val)
+    {
+        return val.asString();
+    }
+
+    /**
+     * Get a vector from a parameter, using both the recommended style:
+     * nameOfList (elem1 elem2 elem3)
+     * or the deprecated (since YARP 3.10):
+     * nameOfList elem1 elem2 elem3
+     *
+     *
+     * \brief Get vector from YARP configuration
+     * \return true if the parsing was successful, false otherwise
+     */
+    template <typename T>
+    inline bool readVectorFromConfigFile(const yarp::os::Searchable& params, const std::string&listName, std::vector<T>& outputList)
+    {
+        bool vectorPopulated = false;
+        outputList.resize(0);
+        yarp::os::Value& val = params.find(listName);
+        if (!val.isNull() && val.isList())
+        {
+            yarp::os::Bottle* listBot = val.asList();
+            outputList.resize(listBot->size());
+
+            for (size_t i=0; i < outputList.size(); i++)
+            {
+                outputList[i] = readElementFromValue<T>(listBot->get(i));
+            }
+
+            vectorPopulated = true;
+        }
+        else
+        {
+            // Try to interpreter the list via findGroup
+            yarp::os::Bottle listBottleAndKey = params.findGroup(listName);
+            if (!listBottleAndKey.isNull())
+            {
+                yWarning() << "Parameter " << listName << " should be a list, but its format is deprecated as parenthesis are missing."
+                           << " Please add parentesis to the list, as documented in https://github.com/robotology/yarp/discussions/3092 .";
+
+                outputList.resize(listBottleAndKey.size()-1);
+
+                for (size_t i=0; i < outputList.size(); i++)
+                {
+                    outputList[i] = readElementFromValue<T>(listBottleAndKey.get(i+1));
+                }
+                vectorPopulated = true;
+            }
+        }
+        return vectorPopulated;
+    }
+
+    /**
+      * Convert a vector to a string for printing.
+      */
+    template <typename T>
+    inline std::string vectorToString(std::vector<T>& outputList)
+    {
+        std::stringstream ss;
+        for (size_t i = 0; i < outputList.size(); ++i) {
+            ss << outputList[i];
+            if (i != outputList.size() - 1)
+            {
+                ss << " ";
+            }
         }
+        return ss.str();
     }
 }