Merge pull request #432 from ami-iit/bindings/toml

Develop the python bindings for toml implementation of the parameters handler

CHANGELOG.md

@@ -5,6 +5,7 @@ All notable changes to this project are documented in this file.
 ### Added
 - Implement Python bindings for the TSID component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/428)
 - Add the possibility to set the name of each element of a variable stored in the variables handler (https://github.com/ami-iit/bipedal-locomotion-framework/pull/429)
+- Develop the python bindings for toml implementation of the parameters handler (https://github.com/ami-iit/bipedal-locomotion-framework/pull/432)
 - Implement the VariableRegularizationTask in TSID (https://github.com/ami-iit/bipedal-locomotion-framework/pull/431)
 
 ### Changed

bindings/python/ParametersHandler/CMakeLists.txt

@@ -27,3 +27,18 @@ if(FRAMEWORK_COMPILE_YarpImplementation)
 
 
 endif()
+
+
+if(FRAMEWORK_COMPILE_TomlImplementation)
+
+  add_bipedal_locomotion_python_module(
+    NAME  ParametersHandlerTomlImplementationBindings
+    SOURCES src/TomlParametersHandler.cpp src/TomlModule.cpp
+    HEADERS ${H_PREFIX}/TomlParametersHandler.h ${H_PREFIX}/TomlModule.h
+    LINK_LIBRARIES BipedalLocomotion::ParametersHandlerTomlImplementation
+    TESTS tests/test_parameters_handler_toml.py
+    )
+
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/tests/config.toml ${PROJECT_BINARY_DIR}/config.toml COPYONLY)
+
+endif()

bindings/python/ParametersHandler/include/BipedalLocomotion/bindings/ParametersHandler/TomlModule.h

@@ -0,0 +1,26 @@
+/**
+ * @file TomlModule.h
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_MODULE_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ParametersHandler
+{
+
+void CreateTomlModule(pybind11::module& module);
+
+} // namespace ParametersHandler
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_MODULE_H

bindings/python/ParametersHandler/include/BipedalLocomotion/bindings/ParametersHandler/TomlParametersHandler.h

@@ -0,0 +1,26 @@
+/**
+ * @file TomlParametersHandler
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_PARAMETERS_HANDLER_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_PARAMETERS_HANDLER_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ParametersHandler
+{
+
+void CreateTomlParameterHandler(pybind11::module& module);
+
+} // namespace ParametersHandler
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_PARAMETERS_HANDLER_TOML_PARAMETERS_HANDLER_H

bindings/python/ParametersHandler/src/TomlModule.cpp

@@ -0,0 +1,25 @@
+/**
+ * @file TomlModule.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include <pybind11/pybind11.h>
+
+#include <BipedalLocomotion/bindings/ParametersHandler/TomlModule.h>
+#include <BipedalLocomotion/bindings/ParametersHandler/TomlParametersHandler.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ParametersHandler
+{
+void CreateTomlModule(pybind11::module& module)
+{
+    CreateTomlParameterHandler(module);
+}
+} // namespace ParametersHandler
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/ParametersHandler/src/TomlParametersHandler.cpp

@@ -0,0 +1,36 @@
+/**
+ * @file TomlParametersHandler.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
+#include <BipedalLocomotion/ParametersHandler/TomlImplementation.h>
+#include <BipedalLocomotion/bindings/ParametersHandler/TomlParametersHandler.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace ParametersHandler
+{
+
+void CreateTomlParameterHandler(pybind11::module& module)
+{
+    namespace py = ::pybind11;
+    using namespace BipedalLocomotion::ParametersHandler;
+    py::class_<TomlImplementation, //
+               std::shared_ptr<TomlImplementation>,
+               IParametersHandler>(module, "TomlParametersHandler")
+        .def(py::init())
+        .def("set_from_file", &TomlImplementation::setFromFile, py::arg("file_name"));
+}
+
+} // namespace ParametersHandler
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/ParametersHandler/tests/config.toml

@@ -0,0 +1,9 @@
+answer_to_the_ultimate_question_of_life = 42
+pi = 3.14
+John = "Smith"
+"Fibonacci Numbers" = [1, 1, 2, 3, 5, 8, 13, 21]
+
+[CARTOONS]
+"Donald's nephews" = ["Huey", "Dewey", "Louie"]
+Fibonacci_Numbers = [1, 1, 2, 3, 5, 8, 13, 21]
+John = "Doe"

bindings/python/ParametersHandler/tests/test_parameters_handler_toml.py

@@ -0,0 +1,207 @@
+import pytest
+pytestmark = pytest.mark.parameters_handler_toml
+
+import bipedal_locomotion_framework.bindings.parameters_handler as blf
+import numpy as np
+
+def test_bool():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_bool(name="my_bool", value=True)
+
+    assert handler.get_parameter_bool(name="my_bool") is True
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_int(name="my_bool")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_float(name="my_bool")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_string(name="my_bool")
+
+
+def test_int():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_int(name="my_int", value=42)
+
+    assert handler.get_parameter_int(name="my_int") == 42
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_bool(name="my_int")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_float(name="my_int")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_string(name="my_int")
+
+
+def test_float():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_float(name="my_float", value=3.1415)
+
+    assert handler.get_parameter_float(name="my_float") == pytest.approx(3.1415)
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_bool(name="my_float")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_int(name="my_float")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_string(name="my_float")
+
+
+def test_string():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_string(name="my_string", value="foo")
+
+    assert handler.get_parameter_string(name="my_string") == "foo"
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_bool(name="my_string")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_int(name="my_string")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_float(name="my_string")
+
+
+def test_vector_bool():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_vector_bool(name="my_vector_bool",value= [True, False, True])
+
+    assert handler.get_parameter_vector_bool(name="my_vector_bool") == [True, False, True]
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_int(name="my_vector_bool")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_float(name="my_vector_bool")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_string(name="my_vector_bool")
+
+
+def test_vector_int():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_vector_int(name="my_vector_int", value=[-1, 2, 10])
+
+    assert handler.get_parameter_vector_int(name="my_vector_int") == [-1, 2, 10]
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_bool(name="my_vector_int")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_float(name="my_vector_int")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_string(name="my_vector_int")
+
+
+def test_vector_float():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_vector_float(name="my_vector_float",
+                                       value=[-3.14, 2.7182, 42.0])
+
+    assert handler.get_parameter_vector_float(name="my_vector_float") == \
+           pytest.approx([-3.14, 2.7182, 42.0])
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_bool(name="my_vector_float")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_int(name="my_vector_float")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_string(name="my_vector_float")
+
+
+def test_vector_string():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_vector_string(name="my_vector_string",
+                                        value=["foo", "bar", "bipedal", "locomotion"])
+
+    assert handler.get_parameter_vector_string(name="my_vector_string") == \
+           ["foo", "bar", "bipedal", "locomotion"]
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_bool(name="my_vector_string")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_int(name="my_vector_string")
+
+    with pytest.raises(ValueError):
+        handler.get_parameter_vector_float(name="my_vector_string")
+
+
+def test_vector_mixed():
+
+    handler = blf.TomlParametersHandler()
+
+    # 1. Mixed vector: store as more general type float
+    handler.set_parameter_vector_float(name="to_float", value=[42.0, 1, -3.14, False])
+
+    assert handler.get_parameter_vector_float(name="to_float") == \
+           pytest.approx([42.0, 1.0, -3.14, 0.0])
+
+    # 2. Mixed vector: store as more general type int
+    handler.set_parameter_vector_float(name="to_int", value=[42, 1, -3, False])
+
+    assert handler.get_parameter_vector_float(name="to_int") == \
+           pytest.approx([42, 1, -3, 0])
+
+    # 3. Mixed vector: store as less general type int
+    with pytest.raises(TypeError):
+        handler.set_parameter_vector_int(name="to_int_fail",
+                                         value=[42.0, 1, -3.14, False])
+
+
+def test_clear():
+
+    handler = blf.TomlParametersHandler()
+
+    handler.set_parameter_bool(name="my_bool1", value=False)
+    handler.set_parameter_bool(name="my_bool2", value=True)
+    handler.set_parameter_float(name="my_float", value=-42.42)
+    handler.set_parameter_vector_string(name="my_vector_string", value=["bar", "foo"])
+
+    handler.clear()
+
+    with pytest.raises(ValueError):
+        _ = handler.get_parameter_bool(name="my_bool1")
+
+    with pytest.raises(ValueError):
+        _ = handler.get_parameter_bool(name="my_bool2")
+
+    with pytest.raises(ValueError):
+        _ = handler.get_parameter_float(name="my_float")
+
+    with pytest.raises(ValueError):
+        _ = handler.get_parameter_vector_string(name="my_float")
+
+
+def test_load_from_file():
+
+    handler = blf.TomlParametersHandler()
+    assert handler.set_from_file('config.toml') == True
+
+    assert handler.get_parameter_int("answer_to_the_ultimate_question_of_life") == 42
+    assert handler.get_group("CARTOONS").get_parameter_string("John") == "Doe"

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -16,6 +16,10 @@
 #include <BipedalLocomotion/bindings/ParametersHandler/YarpModule.h>
 @endcmakeif FRAMEWORK_COMPILE_YarpImplementation
 
+@cmakeif FRAMEWORK_COMPILE_TomlImplementation
+#include <BipedalLocomotion/bindings/ParametersHandler/TomlModule.h>
+@endcmakeif FRAMEWORK_COMPILE_TomlImplementation
+
 @cmakeif FRAMEWORK_COMPILE_System
 #include <BipedalLocomotion/bindings/System/Module.h>
 @endcmakeif FRAMEWORK_COMPILE_System
@@ -67,6 +71,10 @@ PYBIND11_MODULE(bindings, m)
     bindings::ParametersHandler::CreateYarpModule(parametersHandlerModule);
     @endcmakeif FRAMEWORK_COMPILE_YarpImplementation
 
+    @cmakeif FRAMEWORK_COMPILE_TomlImplementation
+    bindings::ParametersHandler::CreateTomlModule(parametersHandlerModule);
+    @endcmakeif FRAMEWORK_COMPILE_TomlImplementation
+
     py::module mathModule = m.def_submodule("math");
     bindings::Math::CreateModule(mathModule);