Clean up

clean
rdiankov · Jan 15, 2024 · a17c288 · a17c288
1 parent 0f7a314
commit a17c288
Show file tree

Hide file tree

Showing 4 changed files with 65 additions and 0 deletions.
diff --git a/include/openrave/environment.h b/include/openrave/environment.h
@@ -891,6 +891,9 @@ class OPENRAVE_API EnvironmentBase : public boost::enable_shared_from_this<Envir
 
         enum EnvironmentInfoField {
             EIF_UnitInfo = (1 << 0), // _unitInfo field
+            EIF_Description = (1 << 1), // _description field
+            EIF_Keywords = (1 << 2), // _keywords field
+            EIF_Int64Parameters = (1 << 3), // _uInt64Parameters field
         };
         inline bool IsModifiedField(EnvironmentInfoField field) const {
             return !!(_modifiedFields & field);

diff --git a/include/openrave/kinbody.h b/include/openrave/kinbody.h
@@ -1439,6 +1439,8 @@ class OPENRAVE_API KinBody : public InterfaceBase
                 LinkInfoPtr diffInfo = boost::make_shared<KinBody::LinkInfo>();
                 diffInfo->_id = _info._id;
                 diffInfo->_vgeometryinfos.push_back(geometryInfo);
+                diffInfo->_isPartial = true;
+                diffInfo->_modifiedFields = 0;
                 _callbackOnModify(diffInfo);
             }
         }
@@ -3739,6 +3741,8 @@ class OPENRAVE_API KinBody : public InterfaceBase
             KinBodyInfoPtr diffInfo = boost::make_shared<KinBody::KinBodyInfo>();
             diffInfo->_id = _id;
             diffInfo->_vLinkInfos.push_back(linkInfo);
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
             _callbackOnModify(diffInfo);
         }
     }
@@ -3747,6 +3751,8 @@ class OPENRAVE_API KinBody : public InterfaceBase
             KinBodyInfoPtr diffInfo = boost::make_shared<KinBody::KinBodyInfo>();
             diffInfo->_id = _id;
             diffInfo->_vJointInfos.push_back(jointInfo);
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
             _callbackOnModify(diffInfo);
         }
     }

diff --git a/src/libopenrave-core/environment-core.h b/src/libopenrave-core/environment-core.h
@@ -2788,6 +2788,9 @@ class Environment : public EnvironmentBase
         if (_callbackOnModify != nullptr) {
             EnvironmentBaseInfoPtr diffInfo = boost::make_shared<EnvironmentBaseInfo>();
             diffInfo->_unitInfo = _unitInfo;
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
+            diffInfo->AddModifiedField(EnvironmentBaseInfo::EIF_UnitInfo);
             _callbackOnModify(diffInfo);
         }
     }
@@ -3252,6 +3255,9 @@ class Environment : public EnvironmentBase
         if (_callbackOnModify != nullptr) {
             EnvironmentBaseInfoPtr diffInfo = boost::make_shared<EnvironmentBaseInfo>();
             diffInfo->_description = _description;
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
+            diffInfo->AddModifiedField(EnvironmentBaseInfo::EIF_Description);
             _callbackOnModify(diffInfo);
         }
     }
@@ -3267,6 +3273,9 @@ class Environment : public EnvironmentBase
         if (_callbackOnModify != nullptr) {
             EnvironmentBaseInfoPtr diffInfo = boost::make_shared<EnvironmentBaseInfo>();
             diffInfo->_keywords = _keywords;
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
+            diffInfo->AddModifiedField(EnvironmentBaseInfo::EIF_Keywords);
             _callbackOnModify(diffInfo);
         }
     }
@@ -3282,6 +3291,9 @@ class Environment : public EnvironmentBase
         if (_callbackOnModify != nullptr) {
             EnvironmentBaseInfoPtr diffInfo = boost::make_shared<EnvironmentBaseInfo>();
             diffInfo->_uInt64Parameters = _mapUInt64Parameters;
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
+            diffInfo->AddModifiedField(EnvironmentBaseInfo::EIF_Int64Parameters);
             _callbackOnModify(diffInfo);
         }
     }
@@ -4352,6 +4364,8 @@ class Environment : public EnvironmentBase
         if (_callbackOnModify != nullptr) {
             EnvironmentBaseInfoPtr diffInfo = boost::make_shared<EnvironmentBaseInfo>();
             diffInfo->_vBodyInfos.push_back(kinBodyInfo);
+            diffInfo->_isPartial = true;
+            diffInfo->_modifiedFields = 0;
             _callbackOnModify(diffInfo);
         }
     }

diff --git a/src/libopenrave/environment.cpp b/src/libopenrave/environment.cpp
@@ -61,6 +61,48 @@ void EnvironmentBase::EnvironmentBaseInfo::SerializeJSON(rapidjson::Value& rEnvI
     // for all SerializeJSON, we clear the output
     rEnvInfo.SetObject();
 
+    if (_isPartial) {
+        if (IsModifiedField(EnvironmentBaseInfo::EIF_UnitInfo)) {
+            orjson::SetJsonValueByKey(rEnvInfo, "unitInfo", _unitInfo, allocator);
+        }
+        if (IsModifiedField(EnvironmentBaseInfo::EIF_Description)) {
+            orjson::SetJsonValueByKey(rEnvInfo, "description", _description, allocator);
+        }
+        if (IsModifiedField(EnvironmentBaseInfo::EIF_Keywords)) {
+            orjson::SetJsonValueByKey(rEnvInfo, "keywords", _keywords, allocator);
+        }
+        if (IsModifiedField(EnvironmentBaseInfo::EIF_Int64Parameters)) {
+            if( _uInt64Parameters.size() > 0 ) {
+                rapidjson::Value rUInt64Parameters;
+                rUInt64Parameters.SetArray();
+                FOREACHC(it, _uInt64Parameters) {
+                    rapidjson::Value rInt64Parameter;
+                    rInt64Parameter.SetObject();
+                    orjson::SetJsonValueByKey(rInt64Parameter, "id", it->first, allocator);
+                    orjson::SetJsonValueByKey(rInt64Parameter, "value", it->second, allocator);
+                    rUInt64Parameters.PushBack(rInt64Parameter, allocator);
+                }
+                rEnvInfo.AddMember("uint64Parameters", rUInt64Parameters, allocator);
+            }
+        }        
+
+        if (_vBodyInfos.size() > 0) {
+            rapidjson::Value rBodiesValue;
+            rBodiesValue.SetArray();
+            rBodiesValue.Reserve(_vBodyInfos.size(), allocator);
+            for (const KinBody::KinBodyInfoPtr& pinfo : _vBodyInfos) {
+                if (!pinfo) {
+                    continue;
+                }
+                rapidjson::Value bodyValue;
+                pinfo->SerializeJSON(bodyValue, allocator, fUnitScale, options);
+                rBodiesValue.PushBack(bodyValue, allocator);
+            }
+            rEnvInfo.AddMember("bodies", rBodiesValue, allocator);
+        }
+        return;
+    }
+
     orjson::SetJsonValueByKey(rEnvInfo, "keywords", _keywords, allocator);
     if( !_description.empty() ) {
         orjson::SetJsonValueByKey(rEnvInfo, "description", _description, allocator);