Simplify LuaParameterDictionary. (#132)

master
Holger Rapp 2016-11-17 17:58:51 +01:00 committed by GitHub
parent 8f58efe79b
commit 4522fc49ad
5 changed files with 12 additions and 77 deletions

View File

@ -147,43 +147,19 @@ void GetArrayValues(lua_State* L, const std::function<void()>& pop_value) {
std::unique_ptr<LuaParameterDictionary>
LuaParameterDictionary::NonReferenceCounted(
const string& code, std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_function) {
const string& code, std::unique_ptr<FileResolver> file_resolver) {
return std::unique_ptr<LuaParameterDictionary>(new LuaParameterDictionary(
code, ReferenceCount::NO, std::move(file_resolver),
state_extension_function));
}
std::unique_ptr<LuaParameterDictionary> LuaParameterDictionary::Partial(
const string& code, const string& key,
std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_function) {
auto parameter_dictionary =
std::unique_ptr<LuaParameterDictionary>(new LuaParameterDictionary(
code, std::move(file_resolver), state_extension_function));
// This replaces the table at the top of the stack with the table at 'key'.
auto& L = parameter_dictionary->L_;
const string lua_code = "local table=...; return table." + key;
CheckForLuaErrors(L, luaL_loadstring(L, lua_code.c_str()));
lua_pushvalue(L, -2); // S: table, function, table
lua_remove(L, -3); // S: function, table
CheckForLuaErrors(L, lua_pcall(L, 1, 1, 0));
CheckTableIsAtTopOfStack(L);
return parameter_dictionary;
code, ReferenceCount::NO, std::move(file_resolver)));
}
LuaParameterDictionary::LuaParameterDictionary(
const string& code, std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_function)
const string& code, std::unique_ptr<FileResolver> file_resolver)
: LuaParameterDictionary(code, ReferenceCount::YES,
std::move(file_resolver),
state_extension_function) {}
std::move(file_resolver)) {}
LuaParameterDictionary::LuaParameterDictionary(
const string& code, ReferenceCount reference_count,
std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_function)
std::unique_ptr<FileResolver> file_resolver)
: L_(luaL_newstate()),
index_into_reference_table_(-1),
file_resolver_(std::move(file_resolver)),
@ -196,9 +172,6 @@ LuaParameterDictionary::LuaParameterDictionary(
lua_register(L_, "choose", LuaChoose);
lua_register(L_, "include", LuaInclude);
lua_register(L_, "read", LuaRead);
if (state_extension_function) {
state_extension_function(L_);
}
CheckForLuaErrors(L_, luaL_loadstring(L_, code.c_str()));
CheckForLuaErrors(L_, lua_pcall(L_, 0, 1, 0));

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@ -38,33 +38,19 @@ class FileResolver {
virtual string GetFileContentOrDie(const string& basename) = 0;
};
// A function that adds new Lua functions to a state. Used to extend the Lua
// configuration in custom contexts.
using StateExtensionFunction = std::function<void(lua_State*)>;
// A parameter dictionary that gets loaded from Lua code.
class LuaParameterDictionary {
public:
// Constructs the dictionary from a Lua Table specification.
LuaParameterDictionary(const string& code,
std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_functon);
std::unique_ptr<FileResolver> file_resolver);
LuaParameterDictionary(const LuaParameterDictionary&) = delete;
LuaParameterDictionary& operator=(const LuaParameterDictionary&) = delete;
// Constructs a LuaParameterDictionary without reference counting.
static std::unique_ptr<LuaParameterDictionary> NonReferenceCounted(
const string& code, std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_functon);
// Constructs a partial LuaParameterDictionary by extracting the dictionary
// with 'key' from 'code' where 'key' refers to an arbitrarily deep dictionary
// (e.g. "a.b.c").
static std::unique_ptr<LuaParameterDictionary> Partial(
const string& code, const string& key,
std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_functon);
const string& code, std::unique_ptr<FileResolver> file_resolver);
~LuaParameterDictionary();
@ -96,8 +82,7 @@ class LuaParameterDictionary {
private:
enum class ReferenceCount { YES, NO };
LuaParameterDictionary(const string& code, ReferenceCount reference_count,
std::unique_ptr<FileResolver> file_resolver,
StateExtensionFunction state_extension_function);
std::unique_ptr<FileResolver> file_resolver);
// For GetDictionary().
LuaParameterDictionary(lua_State* L, ReferenceCount reference_count,

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@ -31,15 +31,7 @@ namespace {
std::unique_ptr<LuaParameterDictionary> MakeNonReferenceCounted(
const string& code) {
return LuaParameterDictionary::NonReferenceCounted(
code, common::make_unique<DummyFileResolver>(),
nullptr /* state_extension_function */);
}
std::unique_ptr<LuaParameterDictionary> MakePartial(const string& code,
const string& key) {
return LuaParameterDictionary::Partial(
code, key, common::make_unique<DummyFileResolver>(),
nullptr /* state_extension_function */);
code, common::make_unique<DummyFileResolver>());
}
class LuaParameterDictionaryTest : public ::testing::Test {
@ -226,20 +218,6 @@ TEST_F(LuaParameterDictionaryTest, TestChooseInvalidArgument) {
"condition is not a boolean value.");
}
TEST_F(LuaParameterDictionaryTest, Partial) {
auto partial_dictionary =
MakePartial("return { blah = { blue = { red = 200 } } }", "blah.blue");
EXPECT_EQ(200, partial_dictionary->GetInt("red"));
}
TEST_F(LuaParameterDictionaryTest, PartialIsReferenceCounted) {
auto partial_dictionary =
MakePartial("return { blah = { blue = { red = 200 } } }", "blah.blue");
ASSERT_DEATH(partial_dictionary.reset(),
".*Key 'red' was used the wrong number of times..*");
partial_dictionary->GetInt("red");
}
} // namespace
} // namespace common
} // namespace cartographer

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@ -48,8 +48,7 @@ class DummyFileResolver : public FileResolver {
std::unique_ptr<LuaParameterDictionary> MakeDictionary(const string& code) {
return common::make_unique<LuaParameterDictionary>(
code, std::unique_ptr<DummyFileResolver>(new DummyFileResolver()),
nullptr /* state_extension_function */);
code, common::make_unique<DummyFileResolver>());
}
} // namespace common

View File

@ -143,7 +143,7 @@ XRayPointsProcessor::XRayPointsProcessor(
floors_(floors),
output_filename_(output_filename),
transform_(transform) {
for (int i = 0; i < (floors_.empty() ? 1 : floors.size()); ++i) {
for (size_t i = 0; i < (floors_.empty() ? 1 : floors.size()); ++i) {
voxels_.emplace_back(voxel_size, Eigen::Vector3f::Zero());
}
}
@ -169,7 +169,7 @@ void XRayPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
CHECK_EQ(voxels_.size(), 1);
Insert(*batch, transform_, &voxels_[0]);
} else {
for (int i = 0; i < floors_.size(); ++i) {
for (size_t i = 0; i < floors_.size(); ++i) {
if (!ContainedIn(batch->time, floors_[i].timespans)) {
continue;
}