common/yaml: Add BUILD and tweaks for Drake

YinjieLin · Mar 12, 2019 · 677868f · 677868f
1 parent b34a136
commit 677868f
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Showing 5 changed files with 74 additions and 20 deletions.
diff --git a/common/yaml/dev/BUILD.bazel b/common/yaml/dev/BUILD.bazel
@@ -0,0 +1,53 @@
+# -*- mode: python -*-
+# vi: set ft=python :
+
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+    "drake_cc_library",
+    "drake_cc_package_library",
+)
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+package(default_visibility = ["//visibility:public"])
+
+drake_cc_package_library(
+    name = "dev",
+    deps = [
+        ":visitor",
+        ":yaml_read_archive",
+    ],
+)
+
+drake_cc_library(
+    name = "visitor",
+    hdrs = ["visitor.h"],
+    deps = [
+        "//common:essential",
+    ],
+)
+
+drake_cc_library(
+    name = "yaml_read_archive",
+    srcs = ["yaml_read_archive.cc"],
+    hdrs = ["yaml_read_archive.h"],
+    deps = [
+        ":visitor",
+        "//common:essential",
+        "//common:nice_type_name",
+        "@yaml_cpp",
+    ],
+)
+
+# === test/ ===
+
+drake_cc_googletest(
+    name = "yaml_read_archive_test",
+    deps = [
+        ":visitor",
+        ":yaml_read_archive",
+        "//common/test_utilities",
+    ],
+)
+
+add_lint_tests()
diff --git a/common/yaml/dev/test/yaml_read_archive_test.cc b/common/yaml/dev/test/yaml_read_archive_test.cc
@@ -1,4 +1,4 @@
-#include "common/yaml_read_archive.h"
+#include "drake/common/yaml/dev/yaml_read_archive.h"
 
 #include <cmath>
 #include <limits>
@@ -10,7 +10,7 @@
 
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/common/test_utilities/expect_throws_message.h"
-#include "common/visitor.h"
+#include "drake/common/yaml/dev/visitor.h"
 
 using anzu::common::YamlReadArchive;
 
@@ -197,7 +197,7 @@ class YamlReadArchiveTest : public ::testing::Test {
 };
 
 TEST_F(YamlReadArchiveTest, Double) {
-  const auto test = [this](const std::string& value, double expected) {
+  const auto test = [](const std::string& value, double expected) {
     const auto& x = AcceptNoThrow<DoubleStruct>(LoadSingleValue(value));
     EXPECT_EQ(x.value, expected);
   };
@@ -226,8 +226,8 @@ TEST_F(YamlReadArchiveTest, Double) {
 }
 
 TEST_F(YamlReadArchiveTest, StdArray) {
-  const auto test = [this](const std::string& value,
-                           const std::array<double, 3>& expected) {
+  const auto test = [](const std::string& value,
+                       const std::array<double, 3>& expected) {
     const auto& x = AcceptNoThrow<ArrayStruct>(LoadSingleValue(value));
     EXPECT_EQ(x.value, expected);
   };
@@ -236,8 +236,8 @@ TEST_F(YamlReadArchiveTest, StdArray) {
 }
 
 TEST_F(YamlReadArchiveTest, StdVector) {
-  const auto test = [this](const std::string& value,
-                           const std::vector<double>& expected) {
+  const auto test = [](const std::string& value,
+                       const std::vector<double>& expected) {
     const auto& x = AcceptNoThrow<VectorStruct>(LoadSingleValue(value));
     EXPECT_EQ(x.value, expected);
   };
@@ -246,8 +246,8 @@ TEST_F(YamlReadArchiveTest, StdVector) {
 }
 
 TEST_F(YamlReadArchiveTest, Optional) {
-  const auto test = [this](const std::string& doc,
-                           const drake::optional<double>& expected) {
+  const auto test = [](const std::string& doc,
+                       const drake::optional<double>& expected) {
     const auto& x = AcceptNoThrow<OptionalStruct>(Load(doc));
     if (expected.has_value()) {
       ASSERT_TRUE(x.value.has_value()) << *expected;
@@ -263,8 +263,8 @@ TEST_F(YamlReadArchiveTest, Optional) {
 }
 
 TEST_F(YamlReadArchiveTest, Variant) {
-  const auto test = [this](const std::string& doc,
-                           const Variant3& expected) {
+  const auto test = [](const std::string& doc,
+                       const Variant3& expected) {
     const auto& x = AcceptNoThrow<VariantStruct>(Load(doc));
     EXPECT_EQ(x.value, expected) << doc;
   };
@@ -275,8 +275,8 @@ TEST_F(YamlReadArchiveTest, Variant) {
 }
 
 TEST_F(YamlReadArchiveTest, EigenVector) {
-  const auto test = [this](const std::string& value,
-                           const Eigen::VectorXd& expected) {
+  const auto test = [](const std::string& value,
+                       const Eigen::VectorXd& expected) {
     const auto& vec = AcceptNoThrow<EigenVecStruct>(LoadSingleValue(value));
     const auto& vec3 = AcceptNoThrow<EigenVec3Struct>(LoadSingleValue(value));
     EXPECT_TRUE(drake::CompareMatrices(vec.value, expected));
@@ -287,8 +287,8 @@ TEST_F(YamlReadArchiveTest, EigenVector) {
 }
 
 TEST_F(YamlReadArchiveTest, EigenVectorX) {
-  const auto test = [this](const std::string& value,
-                           const Eigen::VectorXd& expected) {
+  const auto test = [](const std::string& value,
+                       const Eigen::VectorXd& expected) {
     const auto& x = AcceptNoThrow<EigenVecStruct>(LoadSingleValue(value));
     EXPECT_TRUE(drake::CompareMatrices(x.value, expected));
   };
@@ -299,8 +299,8 @@ TEST_F(YamlReadArchiveTest, EigenVectorX) {
 
 TEST_F(YamlReadArchiveTest, EigenMatrix) {
   using Matrix34d = Eigen::Matrix<double, 3, 4>;
-  const auto test = [this](const std::string& doc,
-                           const Eigen::MatrixXd& expected) {
+  const auto test = [](const std::string& doc,
+                       const Eigen::MatrixXd& expected) {
     const auto& mat = AcceptNoThrow<EigenMatrixStruct>(Load(doc));
     const auto& mat34 = AcceptNoThrow<EigenMatrix34Struct>(Load(doc));
     EXPECT_TRUE(drake::CompareMatrices(mat.value, expected));

diff --git a/common/yaml/dev/yaml_read_archive.cc b/common/yaml/dev/yaml_read_archive.cc
@@ -1,4 +1,4 @@
-#include "common/yaml_read_archive.h"
+#include "drake/common/yaml/dev/yaml_read_archive.h"
 
 #include <algorithm>
 

diff --git a/common/yaml/dev/yaml_read_archive.h b/common/yaml/dev/yaml_read_archive.h
@@ -17,7 +17,7 @@
 #include "drake/common/drake_throw.h"
 #include "drake/common/drake_variant.h"
 #include "drake/common/nice_type_name.h"
-#include "common/visitor.h"
+#include "drake/common/yaml/dev/visitor.h"
 
 namespace anzu {
 namespace common {
@@ -224,7 +224,7 @@ class YamlReadArchive final {
   }
 
   // Steps through Types to extract 'size_t I' and 'typename T' for the Impl.
-  template <template <typename...> typename Variant, typename... Types>
+  template <template <typename...> class Variant, typename... Types>
   void VariantHelper(
       const std::string& tag, const char* name, Variant<Types...>* storage) {
     VariantHelperImpl<0, Variant<Types...>, Types...>(tag, name, storage);

diff --git a/tools/install/libdrake/build_components.bzl b/tools/install/libdrake/build_components.bzl
@@ -44,6 +44,7 @@ LIBDRAKE_COMPONENTS = [
     "//common",
     "//common/proto",
     "//common/trajectories",
+    "//common/yaml/dev",
     "//common:drake_marker_shared_library",  # unpackaged
     "//common:text_logging_gflags_h",  # unpackaged
     "//examples/acrobot:acrobot_input",  # unpackaged