Add CSV data parsing (#402)

Signed-off-by: Michel Hidalgo <[email protected]>
Co-authored-by: Carlos Agüero <[email protected]>

CMakeLists.txt

@@ -126,7 +126,6 @@ gz_find_package(AVUTIL REQUIRED_BY av PRETTY libavutil)
 # Find assimp
 gz_find_package(GzAssimp REQUIRED_BY graphics PRETTY assimp)
 
-
 message(STATUS "-------------------------------------------\n")
 
 
@@ -137,7 +136,7 @@ configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
  ${PROJECT_BINARY_DIR}/cppcheck.suppress)
 
 gz_configure_build(QUIT_IF_BUILD_ERRORS
- COMPONENTS av events geospatial graphics profiler testing)
+ COMPONENTS av events geospatial graphics io profiler testing)
 
 #============================================================================
 # Create package information

io/BUILD.bazel

@@ -0,0 +1,76 @@
+load(
+ "//gz_bazel:build_defs.bzl",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "generate_include_header",
+ "gz_export_header",
+)
+
+package(
+ default_visibility = GZ_VISIBILITY,
+ features = [
+ "-parse_headers",
+ "-layering_check",
+ ],
+)
+
+public_headers_no_gen = glob([
+ "include/gz/common/*.hh",
+])
+
+sources = glob(
+ ["src/*.cc"],
+ exclude = ["src/*_TEST.cc"],
+)
+
+test_sources = glob(["src/*_TEST.cc"])
+
+gz_export_header(
+ name = "include/gz/common/io/Export.hh",
+ export_base = "GZ_COMMON_IO",
+ lib_name = "gz-common-io",
+ visibility = ["//visibility:private"],
+)
+
+generate_include_header(
+ name = "iohh_genrule",
+ out = "include/gz/common/io.hh",
+ hdrs = public_headers_no_gen + [
+ "include/gz/common/io/Export.hh",
+ ],
+)
+
+public_headers = public_headers_no_gen + [
+ "include/gz/common/io/Export.hh",
+ "include/gz/common/io.hh",
+]
+
+cc_library(
+ name = "io",
+ srcs = sources,
+ hdrs = public_headers,
+ includes = ["include"],
+ deps = [
+ GZ_ROOT + "gz_common",
+ GZ_ROOT + "gz_math",
+ ],
+)
+
+cc_binary(
+ name = "libgz-common5-io.so",
+ includes = ["include"],
+ linkopts = ["-Wl,-soname,libgz-common5-io.so"],
+ linkshared = True,
+ deps = [":events"],
+)
+
+[cc_test(
+ name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+ srcs = [src],
+ deps = [
+ ":io",
+ GZ_ROOT + "gz_common/test:test_utils",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]

io/include/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gz)

io/include/gz/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(common)

io/include/gz/common/CMakeLists.txt

@@ -0,0 +1 @@
+gz_install_all_headers(COMPONENT io)

io/include/gz/common/CSVStreams.hh

@@ -0,0 +1,177 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_COMMON_CSVSTREAMS_HH_
+#define GZ_COMMON_CSVSTREAMS_HH_
+
+#include <istream>
+#include <string>
+#include <vector>
+
+#include <gz/common/io/Export.hh>
+
+#include <gz/utils/ImplPtr.hh>
+
+namespace gz
+{
+ namespace common
+ {
+ /// \brief A CSV specification.
+ struct GZ_COMMON_IO_VISIBLE CSVDialect
+ {
+ /// Field delimiter character.
+ char delimiter;
+
+ /// Row termination character.
+ char terminator;
+
+ /// Field quoting character.
+ char quote;
+
+ /// CSV dialect as expected by Unix tools.
+ static const CSVDialect Unix;
+ };
+
+ /// \brief Check CSV dialects for equality.
+ /// \param[in] _lhs Left-hand side CSV dialect.
+ /// \param[in] _rhs Right-hand side CSV dialect.
+ /// \return true if CSV dialects are equal, false otherwise.
+ bool GZ_COMMON_IO_VISIBLE operator==(const CSVDialect &_lhs,
+ const CSVDialect &_rhs);
+
+ /// \brief A token in CSV data.
+ ///
+ /// Lexical specifications are typically dictated by a CSV dialect.
+ struct CSVToken
+ {
+ /// Token type.
+ enum {
+ TEXT = 0, ///< A pure text token (e.g. a letter).
+ QUOTE, ///< A field quoting token (e.g. a double quote).
+ DELIMITER, ///< A field delimiter token (e.g. a comma).
+ TERMINATOR ///< A row termination token (e.g. a newline).
+ } type;
+
+ /// Token character.
+ char character;
+ };
+
+ /// \brief Extract a single token from an input stream of CSV data.
+ ///
+ /// If tokenization fails, the CSV data stream ``failbit`` will be set.
+ ///
+ /// \param[in] _stream A stream of CSV data to tokenize.
+ /// \param[out] _token Output CSV token to extract into.
+ /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+ /// \return same CSV data stream.
+ GZ_COMMON_IO_VISIBLE std::istream &ExtractCSVToken(
+ std::istream &_stream, CSVToken &_token,
+ const CSVDialect &_dialect = CSVDialect::Unix);
+
+ /// \brief Parse a single row from an input stream of CSV data.
+ ///
+ /// If parsing fails, the CSV data stream ``failbit`` will be set.
+ ///
+ /// \param[in] _stream CSV data stream to parse.
+ /// \param[out] _row Output CSV row to parse into.
+ /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+ /// \returns same CSV data stream.
+ GZ_COMMON_IO_VISIBLE std::istream &ParseCSVRow(
+ std::istream &_stream, std::vector<std::string> &_row,
+ const CSVDialect &_dialect = CSVDialect::Unix);
+
+ /// \brief A single-pass row iterator on an input stream of CSV data.
+ ///
+ /// Similar to std::istream_iterator, this iterator parses a stream of
+ /// CSV data, one row at a time. \see `ParseCSVRow`.
+ class GZ_COMMON_IO_VISIBLE CSVIStreamIterator
+ {
+ public: using iterator_category = std::input_iterator_tag;
+ public: using value_type = std::vector<std::string>;
+ public: using difference_type = std::ptrdiff_t;
+ public: using pointer = const value_type*;
+ public: using reference = const value_type&;
+
+ /// \brief Construct an end-of-stream iterator.
+ public: CSVIStreamIterator();
+
+ /// \brief Construct an iterator over `_stream`.
+ ///
+ /// The first row will be read from the underlying stream to
+ /// initialize the iterator. If there are parsing errors while
+ /// reading, the underlying stream ``failbit`` will be set.
+ ///
+ /// \param[in] _stream A stream of CSV data to iterate.
+ /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+ public: explicit CSVIStreamIterator(
+ std::istream &_stream,
+ const CSVDialect &_dialect = CSVDialect::Unix);
+
+ /// \brief Read the next row from the underlying stream.
+ ///
+ /// If the read fails, the iterator becomes an end-of-stream iterator.
+ /// If there are parsing errors while reading, the underlying stream
+ /// ``failbit`` will be set. If the iterator already is an end-of-stream
+ /// iterator, behavior is undefined.
+ ///
+ /// \return A reference to the iterator once modified.
+ public: CSVIStreamIterator &operator++();
+
+ /// \brief Read the next row from the underlying stream.
+ ///
+ /// If the read fails, the iterator becomes an end-of-stream iterator.
+ /// If there are parsing errors while reading, the underlying stream
+ /// ``failbit`` will be set. If the iterator already is an end-of-stream
+ /// iterator, behavior is undefined.
+ ///
+ /// \return A copy of the iterator before modification. Note that,
+ /// while an iterator copy retains its state, the underlying stream
+ /// may still be advanced.
+ public: CSVIStreamIterator operator++(int);
+
+ /// \brief Check for iterator equality.
+ /// \param[in] _other Iterator to compare with.
+ /// \return true if both iterators are end-of-stream iterators
+ /// or if both iterator wrap the same stream and use the same dialect,
+ /// false otherwise.
+ public: bool operator==(const CSVIStreamIterator &_other) const;
+
+ /// \brief Check for iterator inequality.
+ /// \param[in] _other Iterator to compare with.
+ /// \return true if both iterators are not equal, false otherwise.
+ public: bool operator!=(const CSVIStreamIterator &_other) const;
+
+ /// \brief Access current row.
+ ///
+ /// Behavior is undefined if the iterator is an end-of-stream iterator.
+ ///
+ /// \return reference to the current row.
+ public: reference operator*() const;
+
+ /// \brief Access current row.
+ ///
+ /// Behavior is undefined if the iterator is an end-of-stream iterator.
+ ///
+ /// \return pointer to the current row.
+ public: pointer operator->() const;
+
+ /// \brief Pointer to private data.
+ private: GZ_UTILS_IMPL_PTR(dataPtr)
+ };
+ }
+}
+
+#endif