branch | HEAD v2 |
pkg_ws_2 (ROS/ROS2 packages) |
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CI status |
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package |
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- Links
- Introduction
- Minimal example
- Visitors
- Supported types
- Dependencies and compilation
- Related software
- Documentation (Doxygen): https://asherikov.github.io/ariles/2/
- GitHub: https://github.com/asherikov/ariles
- Legacy 1.x.x version: https://github.com/asherikov/ariles/tree/head_1 (migration guide https://asherikov.github.io/ariles/2/md_doc_migration_1to2.html)
Loosely speaking, ariles
is a C++ reflection library, i.e., it provides
meta-programming APIs for implementation of class visitors (processors). It
also provides a number of (de)serializers based on these APIs, e.g., YAML
,
JSON
, XML
, ROS
parameter server, ROS2
parameters; and serialization
wrappers for some types, e.g., STL
containers, smart pointers, Eigen
matrices, etc.
-
Parsing and generation of configuration files. Unlike some common serialization libraries, e.g.,
boost::serialization
,ariles
tries to be flexible while parsing by:- silently ignoring unused entries (if possible),
- ignoring ordering of entries (if possible),
- not discriminating attributes from childs in
XML
, - optionally ignoring missing entries.
-
Conversion between different formats, for example,
YAML
<->ROS
parameter server. Note that the conversion is not data-agnostic, i.e., the complete data structure must be represented in C++ code. -
Flattening of a class hierarchy to a list of name-value pairs (string-double), which is useful for collection of time-series data.
-
Exporting of numerical data to an
Octave
script for debugging purposes. -
Implemetation of parsers for specific data formats, e.g.,
URDF
.
Class [./tests/api_v2/types/minimal.h
]:
class Configurable : public ariles2::DefaultBase
{
#define ARILES2_DEFAULT_ID "ConfigurableEntryName" // optional, defaults to 'ariles'
#define ARILES2_ENTRIES(v) \
ARILES2_TYPED_ENTRY(v, integer_member, int)
#include ARILES2_INITIALIZE
};
Serialization:
Configurable configurable;
configurable.integer_member = 10;
ariles2::apply<ariles2::yaml_cpp::Writer>("config.yaml", configurable);
ariles2::apply<ariles2::yaml_cpp::Writer>(std::cout, configurable);
Result:
ConfigurableEntryName:
integer_member: 10
Deserialization:
ariles2::apply<ariles2::yaml_cpp::Reader>("config.yaml", configurable);
Conversion:
// read class from a file
ariles2::apply<ariles2::yaml_cpp::Reader>("config.yaml", configurable);
// dump class to ROS parameter server
ariles2::apply<ariles2::rosparam::Writer>(nh, configurable, "/some_namespace/");
Note that ROS/ROS2 compatible packages are available in a separate branch https://github.com/asherikov/ariles/tree/pkg_ws_2.
See demo for more exaples: https://asherikov.github.io/ariles/2/DEMO.html
[./tests/api_v2/demo_api_v2.cpp
]
ariles
includes a number of optional visitors that support various data
representation formats, in particular:
-
YAML
viayaml-cpp
: https://asherikov.github.io/ariles/2/group__yaml__cpp.html. -
msgpack
viamsgpack-c
: https://asherikov.github.io/ariles/2/group__msgpack.html. -
JSON
viaRapidJSON
, with optional Jsonnet preprocessing: https://asherikov.github.io/ariles/2/group__rapidjson.html and https://asherikov.github.io/ariles/2/group__jsonnet.html. -
XML
viaPugiXML
: https://asherikov.github.io/ariles/2/group__pugixml.html -
Octave
script, output only, no dependencies: https://asherikov.github.io/ariles/2/group__octave.html -
ROS
parameter server, via standardROS
libs: https://asherikov.github.io/ariles/2/group__rosparam.html -
A set of flattened key-value pairs, output only, no dependencies: https://asherikov.github.io/ariles/2/group__namevalue2.html
-
graphviz
dot files for diagram generation: https://asherikov.github.io/ariles/2/group__graphviz.html -
ROS2
parameters, via standardrclcpp
lib: https://asherikov.github.io/ariles/2/group__ros2param.htmlROS2
parameters is not designed to fully reflect yaml structure as explained here ros2/rcl#463, so whileariles
can dump and read anything, there are certain workarounds in place that are described in more details in theROS2
demo [./tests/api_v2/demo_api_v2_ros2.cpp
] https://asherikov.github.io/ariles/2/DEMO_ROS2.html.
There are also a few utility visitors, e.g.,
compare
for class comparison;copyto
for copying data to non-ariles
classes;copyfrom
for copying data from non-ariles
classes.
The complete list of modules is available at https://asherikov.github.io/ariles/2/modules.html
ariles
provides serialization wrappers for the follwing types:
- Fundametal types: integers, floats, booleans.
- Some STL classes (WIP):
std::string
,std::vector
,std::map
,std::pair
,std::shared_ptr
,std::unique_ptr
. Eigen
types: matrices, transforms, quaternions.Boost
classes:boost::optional
,boost::movelib::unique_ptr
.boost::shared_ptr
.- Better enums -> https://github.com/aantron/better-enums.
cmake
>= 3.1C++17
compatible compilerboost
Visitors and corresponding dependencies can be enabled or disabled via cmake options, the same applies to data types which depend on external libraries.
ROS1/ROS2 compatible packages are provided in pkg_ws_2
branch of the main
repository -> https://github.com/asherikov/ariles/tree/pkg_ws_2.
-
https://github.com/PickNikRobotics/rosparam_shortcuts: a set of wrapper functions to read individual parameters from ROS parameter server. This tool serves pretty much the same purpose as
ariles2::rosparam::Reader
, but its functionality is more limited. -
https://billyquith.github.io/ponder/: C++14 reflection library, supports serialization to XML and JSON. Unlike
ariles
it is more focused on reflection per se rather than applications, for example, it allows to set value by string name of a class member, handles class methods, etc.Ponder
does not rely as much on preprocessor macro, but is more verbose. -
https://github.com/bytemaster/boost_reflect: discontinued C++ reflection library, similar to
ponder
. Partially inspiredariles
2.x.x API. -
https://github.com/apolukhin/magic_get (aka
pfr
): C++14 library providing tuple like methods for aggregate initializable structures. Addresses a somewhat different but related problem. -
Serialization libraries, e.g.,
boost::serialization
, https://github.com/USCiLab/cereal. -
A library with similar functionality in C++17 https://github.com/injae/serdepp.
ariles2::namevalue
ariles2::Any