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Refactor the AbstractSocket interface
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@nickbianco
nickbianco committed Dec 17, 2023
1 parent aa11830 commit 72be8d2
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Showing 2 changed files with 131 additions and 116 deletions.
57 changes: 19 additions & 38 deletions OpenSim/Common/Component.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3397,31 +3397,17 @@ class ConnecteeNotSpecified : public Exception {
};

template<class C>
const C& Socket<C>::getConnectee() const {
if (isListSocket()) {
std::string msg = "Socket " + getName() + " of type " +
C::getClassName() + " in " +
getOwner().getAbsolutePathString() + " of type " +
getOwner().getConcreteClassName() + " is a list " +
"socket. An index must be provided.";
OPENSIM_THROW(Exception, msg);
}
return getConnectee(0);
}

template<class C>
const C& Socket<C>::getConnectee(int index) const {
if (!isConnected()) {
std::string msg = "Socket " + getName() + " of type " +
C::getClassName() + " in " +
getOwner().getAbsolutePathString() + " of type " +
getOwner().getConcreteClassName() + " is not connected.";
OPENSIM_THROW(Exception, msg);
}
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"Socket<T>::getConnectee()");
return _connectees[index].getRef();
const C& Socket<C>::getConnectee(int index=-1) const {
if (index < 0) {
if (!isListSocket()) { index = 0; }
else {
OPENSIM_THROW(Exception,
"Socket<T>::getConnectee(): an index must be "
"provided for a socket that takes a list "
"of values.");
}
}
return getConnecteeInternal(index);
}

template<class C>
Expand Down Expand Up @@ -3461,15 +3447,12 @@ void Socket<C>::finalizeConnection(const Component& root) {
connecteePath.getSubcomponentNameAtLevel(0) == "..")
connecteePath = connectee->getAbsolutePath();

if (isListSocket()) {
updConnecteePathProp().appendValue(connecteePath.toString());
} else {
updConnecteePathProp().setValue(connecteePath.toString());
}
// Assign the connectee path to this Socket.
assignConnecteePath(connecteePath.toString());
}

} else {
if (!isListSocket() && getConnecteePath().empty()) return;
// If the connectee path is empty, then we have nothing to connect to.
if (isConnecteePathEmpty()) return;
for (int i = 0; i < static_cast<int>(getNumConnectees()); ++i) {
const auto connecteePath = getConnecteePath(i);
OPENSIM_THROW_IF(connecteePath.empty(), ConnecteeNotSpecified,
Expand All @@ -3482,7 +3465,6 @@ void Socket<C>::finalizeConnection(const Component& root) {
comp = &getOwner().template getComponent<C>(path);
}
connectInternal(*comp);

}
}
}
Expand Down Expand Up @@ -3570,13 +3552,12 @@ void Input<T>::finalizeConnection(const Component& root) {
"",
_aliases[i]);

if (isListSocket())
updConnecteePathProp().appendValue(pathStr);
else
updConnecteePathProp().setValue(pathStr);
// Assign the connectee path to this Input.
assignConnecteePath(pathStr);
}
} else {
if (!isListSocket() && getConnecteePath().empty()) return;
// If the connectee path is empty, then we have nothing to connect to.
if (isConnecteePathEmpty()) return;
std::string compPathStr, outputName, channelName, alias;
for (int i = 0; i < static_cast<int>(getNumConnectees()); ++i) {
parseConnecteePath(getConnecteePath(i),
Expand Down
190 changes: 112 additions & 78 deletions OpenSim/Common/ComponentSocket.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,9 +72,9 @@ class InputNotConnected : public Exception {
* (connectee) until it is disconnected.
*
* For example, a Joint has two Sockets for the parent and child Bodies that
* it joins. The type for the socket is a PhysicalFrame and any attempt to
* it joins. The type for the socket is a PhysicalFrame and any attempt to
* connect to a non-Body (or frame rigidly attached to a Body) will throw an
* exception. The connectAt Stage is Topology. That is, the Joint's connection
* exception. The connectAt Stage is Topology. That is, the Joint's connection
* to a Body must be performed at the Topology system stage, and any attempt to
* change the connection status will invalidate that Stage and above.
*
Expand Down Expand Up @@ -141,13 +141,7 @@ class OSIMCOMMON_API AbstractSocket {

/** Generic access to the connectee. Not all sockets support this method
* (e.g., the connectee for an Input is not an Object). */
virtual const Object& getConnecteeAsObject() const {
OPENSIM_THROW(Exception, "Not supported for this type of socket.");
}

/** Generic access to a connectee of a list socket. Not all sockets support
* this method (e.g., the connectee for an Input is not an Object). */
virtual const Object& getConnecteeAsObject(unsigned index) const {
virtual const Object& getConnecteeAsObject(int index=-1) const {
OPENSIM_THROW(Exception, "Not supported for this type of socket.");
}

Expand Down Expand Up @@ -192,48 +186,51 @@ class OSIMCOMMON_API AbstractSocket {
* connected using the connectee path.
*
* It is preferable to use connect() instead of this function. */
void setConnecteePath(const std::string& name) {
OPENSIM_THROW_IF(_isList,
Exception,
"An index must be provided for a list Socket.");
setConnecteePath(name, 0);
}

/** %Set connectee path of a connectee among a list of connectees. This
* function is used if this socket is a list socket. If a connectee
* reference is set (with connect()) the connectee path is ignored; call
* disconnect() if you want the socket to be connected using the connectee
* name.
*
* It is preferable to use connect() instead of this function. */
void setConnecteePath(const std::string& name, unsigned ix) {
using SimTK::isIndexInRange;
SimTK_INDEXCHECK_ALWAYS(ix, getNumConnectees(),
"AbstractSocket::setConnecteePath()");
updConnecteePathProp().setValue(ix, name);
void setConnecteePath(const std::string& path, int index = -1) {
if (index < 0) {
if (!isListSocket()) { index = 0; }
else {
OPENSIM_THROW(Exception,
"AbstractSocket::setConnecteePath(): an index must be "
"provided for a socket that takes a list "
"of values.");
}
}
setConnecteePathInternal(path, index);
}

/** Get connectee path. This function can only be used if this socket is
not a list socket. */
const std::string& getConnecteePath() const {
OPENSIM_THROW_IF(_isList,
Exception,
"An index must be provided for a list Socket.");
return getConnecteePath(0);
/** Get the connectee path. */
const std::string& getConnecteePath(int index = -1) const {
if (index < 0) {
if (!isListSocket()) { index = 0; }
else {
OPENSIM_THROW(Exception,
"AbstractSocket::getConnecteePath(): an index must be "
"provided for a socket that takes a list "
"of values.");
}
}
return getConnecteePathInternal(index);
}

/** Get connectee path of a connectee among a list of connectees. */
const std::string& getConnecteePath(unsigned ix) const {
using SimTK::isIndexInRange;
SimTK_INDEXCHECK_ALWAYS(ix, getNumConnectees(),
"AbstractSocket::getConnecteePath()");
return getConnecteePathProp().getValue(ix);
/** Append a connectee path to this socket. Only valid for list sockets. */
void appendConnecteePath(const std::string& path) {
OPENSIM_THROW_IF(!isListSocket(), Exception,
"Multiple connectee paths can only be appended to a list Socket.");
updConnecteePathProp().appendValue(path);
}

void appendConnecteePath(const std::string& name) {
OPENSIM_THROW_IF((getNumConnectees() > 0 && !_isList), Exception,
"Multiple connectee paths can only be appended to a list Socket.");
updConnecteePathProp().appendValue(name);
/** Assign the connectee path to this socket. For single-object sockets,
* this overwrites the singular connectee path value. For list sockets, this
* appends this path to the list of connectee paths. Use this to update
* the connectee path property based on existing connectees generically
* (e.g., during serialization). */
void assignConnecteePath(const std::string& path) {
if (isListSocket()) {
appendConnecteePath(path);
} else {
setConnecteePath(path);
}
}

/** Clear all connectee paths in the connectee path property. */
Expand All @@ -244,6 +241,18 @@ class OSIMCOMMON_API AbstractSocket {
updConnecteePathProp().setValue(0, "");
}

/** Check to see if the connectee path property is "empty". For
* single-object sockets, we check if the default connectee path string is
* empty. For list sockets, we check if the list of connectee paths is
* empty. Use this if making a connection based on connectee path to check
* connectee path validity (e.g., during deserialization). */
bool isConnecteePathEmpty() const {
if (isListSocket()) {
return getConnecteePathProp().empty();
}
return getConnecteePathProp().getValue().empty();
}

/** Get owner component of this socket */
const Component& getOwner() const { return _owner.getRef(); }

Expand Down Expand Up @@ -306,23 +315,39 @@ class OSIMCOMMON_API AbstractSocket {
}
}

protected:

private:

void setConnecteePathInternal(const std::string& name, int index) {
OPENSIM_THROW_IF(!isConnected(), Exception,
"Socket '{}' not connected.", getName());
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"AbstractSocket::setConnecteePath()");
updConnecteePathProp().setValue(index, name);
}

const std::string& getConnecteePathInternal(int index) const {
OPENSIM_THROW_IF(!isConnected(), Exception,
"Socket '{}' not connected.", getName());
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"AbstractSocket::getConnecteePath()");
return getConnecteePathProp().getValue(index);
}

/// Const access to the connectee path property from the Component in which
/// this Socket resides. The name of that property is something like
/// 'socket_<name>'. This is a special type of property
/// that users cannot easily access (e.g., there is no macro-generated
/// `get_socket_<name>()` function).
const Property<std::string>& getConnecteePathProp() const;

/// Writable access to the connectee path property from the Component in
/// which this Socket resides. Calling this will mark the Component as
/// not "up to date with properties"
/// (Object::isObjectUpToDateWithProperties()).
Property<std::string>& updConnecteePathProp();


private:

/// Prepend the provided name to all (if any) absolute connectee paths
/// stored in this socket. This is to be used when adding one component
/// to another.
Expand Down Expand Up @@ -364,29 +389,21 @@ class Socket : public AbstractSocket {
return !_connectees.empty();
}

const T& getConnecteeAsObject() const override {
OPENSIM_THROW_IF(isListSocket(),
Exception,
"Socket<T>::getConnecteeAsObject(): an index must be "
"provided for a list socket.");
return getConnecteeAsObject(0);
}

const T& getConnecteeAsObject(unsigned index) const override {
OPENSIM_THROW_IF(!isConnected(), Exception,
"Socket '{}' not connected.", getName());
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"Socket<T>::getConnecteeAsObject()");
return _connectees[index].getRef();
/** Return a const reference to the Object connected to this Socket. */
const T& getConnecteeAsObject(int index = -1) const override {
if (index < 0) {
if (!isListSocket()) { index = 0; }
else {
OPENSIM_THROW(Exception,
"Socket<T>::getConnecteeAsObject(): an index must be "
"provided for a socket that takes a list "
"of values.");
}
}
return getConnecteeAsObjectInternal(index);
}

/** Return a const reference to the object connected to this Socket. Only
valid for non-list Sockets. */
const T& getConnectee() const;

/** Return a const reference to the object connected to this Socket at the
provided index. */
/** Return a const reference to the object connected to this Socket. */
const T& getConnectee(int index) const;

bool canConnectTo(const Object& object) const override {
Expand Down Expand Up @@ -458,6 +475,24 @@ class Socket : public AbstractSocket {

private:

const T& getConnecteeAsObjectInternal(int index) const {
OPENSIM_THROW_IF(!isConnected(), Exception,
"Socket '{}' not connected.", getName());
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"Socket<T>::getConnecteeAsObject()");
return _connectees[index].getRef();
}

const T& getConnecteeInternal(int index) const {
OPENSIM_THROW_IF(!isConnected(), Exception,
"Socket '{}' not connected.", getName());
using SimTK::isIndexInRange;
SimTK_INDEXCHECK(index, getNumConnectees(),
"Socket<T>::getConnectee()");
return _connectees[index].getRef();
}

void connectInternal(const T& objT) {
if (!isListSocket()) {
_connectees.clear();
Expand Down Expand Up @@ -833,7 +868,7 @@ class Input : public AbstractInput {
SimTK_INDEXCHECK_ALWAYS(index, getNumConnectees(),
"Input<T>::setAlias()");

const auto& connecteePath = getConnecteePath(index);
std::string connecteePath = getConnecteePath(index);
std::string componentPath{};
std::string outputName{};
std::string channelName{};
Expand All @@ -843,12 +878,11 @@ class Input : public AbstractInput {
outputName,
channelName,
currAlias);
updConnecteePathProp().setValue(index,
composeConnecteePath(componentPath,
outputName,
channelName,
alias));

connecteePath = composeConnecteePath(componentPath,
outputName,
channelName,
alias);
setConnecteePath(connecteePath, index);
_aliases[index] = alias;
}

Expand Down

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