refactor: use jitsuyo to get config

CMakeLists.txt

@@ -16,6 +16,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(aruku_interfaces REQUIRED)
+find_package(jitsuyo REQUIRED)
 find_package(kansei REQUIRED)
 find_package(kansei_interfaces REQUIRED)
 find_package(keisan REQUIRED)
@@ -32,7 +33,6 @@ message(STATUS "Using gRPC ${gRPC_VERSION}")
 
 add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/node/config_node.cpp"
-  "src/${PROJECT_NAME}/config/utils/config.cpp"
   "src/${PROJECT_NAME}/node/aruku_node.cpp"
   "src/${PROJECT_NAME}/walking/node/walking_manager.cpp"
   "src/${PROJECT_NAME}/walking/node/walking_node.cpp"
@@ -66,6 +66,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   ament_index_cpp
   aruku_interfaces
+  jitsuyo
   kansei
   kansei_interfaces
   keisan
@@ -78,6 +79,7 @@ ament_target_dependencies(${PROJECT_NAME}
 ament_target_dependencies(${PROJECT_NAME}_exported
   ament_index_cpp
   aruku_interfaces
+  jitsuyo
   kansei
   kansei_interfaces
   keisan
@@ -142,6 +144,7 @@ endif()
 ament_export_dependencies(
   ament_index_cpp
   aruku_interfaces
+  jitsuyo
   kansei
   kansei_interfaces
   keisan

include/aruku/config/config.hpp

@@ -21,7 +21,6 @@
 #ifndef ARUKU__CONFIG__CONFIG_HPP_
 #define ARUKU__CONFIG__CONFIG_HPP_
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku/config/node/config_node.hpp"
 
 #endif  // ARUKU__CONFIG__CONFIG_HPP_

include/aruku/config/node/config_node.hpp

@@ -24,7 +24,6 @@
 #include <memory>
 #include <string>
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku/config/grpc/config.hpp"
 #include "aruku/walking/node/walking_manager.hpp"
 #include "aruku/walking/node/walking_node.hpp"

src/aruku/config/grpc/call_data_get_config.cpp

@@ -20,9 +20,9 @@
 
 #include "aruku/config/grpc/call_data_get_config.hpp"
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku_interfaces/aruku.grpc.pb.h"
 #include "aruku_interfaces/aruku.pb.h"
+#include "jitsuyo/config.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace aruku
@@ -44,9 +44,8 @@ void CallDataGetConfig::WaitForRequest()
 
 void CallDataGetConfig::HandleRequest()
 {
-  Config config(path_);
-  reply_.set_json_kinematic(config.get_config("kinematic"));
-  reply_.set_json_walking(config.get_config("walking"));
+  reply_.set_json_kinematic(jitsuyo::load_ordered_config(path_, "kinematic.json").dump());
+  reply_.set_json_walking(jitsuyo::load_ordered_config(path_, "walking.json").dump());
   RCLCPP_INFO(rclcpp::get_logger("Get config"), "config has been sent!");
 }
 }  // namespace aruku

src/aruku/config/grpc/call_data_load_config.cpp

@@ -20,9 +20,9 @@
 
 #include "aruku/config/grpc/call_data_load_config.hpp"
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku_interfaces/aruku.grpc.pb.h"
 #include "aruku_interfaces/aruku.pb.h"
+#include "nlohmann/json.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace aruku

src/aruku/config/grpc/call_data_publish_config.cpp

@@ -20,9 +20,9 @@
 
 #include "aruku/config/grpc/call_data_publish_config.hpp"
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku_interfaces/aruku.grpc.pb.h"
 #include "aruku_interfaces/aruku.pb.h"
+#include "nlohmann/json.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace aruku {

src/aruku/config/grpc/call_data_save_config.cpp

@@ -20,9 +20,9 @@
 
 #include "aruku/config/grpc/call_data_save_config.hpp"
 
-#include "aruku/config/utils/config.hpp"
 #include "aruku_interfaces/aruku.grpc.pb.h"
 #include "aruku_interfaces/aruku.pb.h"
+#include "jitsuyo/config.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace aruku
@@ -47,15 +47,20 @@ void CallDataSaveConfig::WaitForRequest()
 
 void CallDataSaveConfig::HandleRequest()
 {
-  Config config(path_);
-  try {
-    nlohmann::ordered_json kinematic_data = nlohmann::ordered_json::parse(request_.json_kinematic());
-    nlohmann::ordered_json walking_data = nlohmann::ordered_json::parse(request_.json_walking());
-    config.save_config(kinematic_data, walking_data);
-    walking_manager_->load_config(path_);
-    RCLCPP_INFO(rclcpp::get_logger("Save config"), "config has been saved!");
-  } catch (const nlohmann::json::exception & e) {
-    RCLCPP_ERROR(rclcpp::get_logger("Save config"), e.what());
+  nlohmann::ordered_json kinematic_data = nlohmann::ordered_json::parse(request_.json_kinematic());
+  nlohmann::ordered_json walking_data = nlohmann::ordered_json::parse(request_.json_walking());
+
+  if (!jitsuyo::save_config(path_, "kinematic.json", kinematic_data)) {
+    RCLCPP_ERROR(rclcpp::get_logger("Save config"), "Failed to save kinematic config!");
+    return;
   }
+
+  if (!jitsuyo::save_config(path_, "walking.json", walking_data)) {
+    RCLCPP_ERROR(rclcpp::get_logger("Save config"), "Failed to save walking config!");
+    return;
+  }
+
+  walking_manager_->load_config(path_);
+  RCLCPP_INFO(rclcpp::get_logger("Save config"), "config has been saved!");
 }
 }  // namespace aruku

src/aruku/config/grpc/call_data_set_config.cpp

@@ -22,7 +22,7 @@
 
 #include "aruku_interfaces/aruku.grpc.pb.h"
 #include "aruku_interfaces/aruku.pb.h"
-#include "aruku/config/utils/config.hpp"
+#include "nlohmann/json.hpp"
 
 namespace aruku {
 CallDataSetConfig::CallDataSetConfig(
@@ -47,7 +47,6 @@ void CallDataSetConfig::WaitForRequest()
 
 void CallDataSetConfig::HandleRequest()
 {
-  Config config(path_);  
   try {
     bool run = request_.run();
     double x_move = request_.x_move();

src/aruku/config/grpc/config.cpp

@@ -18,8 +18,6 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include "aruku/config/utils/config.hpp"
-
 #include <chrono>
 #include <csignal>
 #include <future>
@@ -36,6 +34,7 @@
 #include "aruku/config/grpc/call_data_set_app_status.hpp"
 #include "aruku/config/grpc/call_data_set_config.hpp"
 #include "aruku/config/grpc/config.hpp"
+#include "jitsuyo/config.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using grpc::ServerBuilder;
@@ -60,9 +59,9 @@ void ConfigGrpc::Run(const std::string &path,
                      const rclcpp::Node::SharedPtr & node,
                      const std::shared_ptr<WalkingNode> &walking_node,
                      const std::shared_ptr<WalkingManager> &walking_manager) {
-  Config config(path);
+  nlohmann::json grpc_config = jitsuyo::load_ordered_config(path, "grpc.json");
   std::string server_address = absl::StrFormat(
-      "0.0.0.0:%d", config.get_grpc_config()["port"].get<uint16_t>());
+      "0.0.0.0:%d", grpc_config["port"].get<uint16_t>());
 
   ServerBuilder builder;
   builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());

src/aruku/config/node/config_node.cpp

@@ -24,9 +24,9 @@
 
 #include "aruku/config/node/config_node.hpp"
 #include "aruku/node/aruku_node.hpp"
-#include "aruku/config/utils/config.hpp"
 #include "aruku_interfaces/srv/save_config.hpp"
 #include "aruku_interfaces/srv/get_config.hpp"
+#include "jitsuyo/config.hpp"
 #include "nlohmann/json.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "aruku/config/grpc/config.hpp"
@@ -36,29 +36,33 @@ namespace aruku
 
 ConfigNode::ConfigNode(rclcpp::Node::SharedPtr node, const std::string & path,
   const std::shared_ptr<WalkingNode> & walking_node, const std::shared_ptr<WalkingManager> & walking_manager)
-: node(node), config(path), set_config_subscriber(nullptr), walking_node(walking_node), walking_manager(walking_manager)
+: node(node), set_config_subscriber(nullptr), walking_node(walking_node), walking_manager(walking_manager)
 {
   get_config_server = node->create_service<GetConfig>(
     get_node_prefix() + "/get_config",
-    [this](GetConfig::Request::SharedPtr request, GetConfig::Response::SharedPtr response) {
-      response->json_walking = this->config.get_config("walking");
-      response->json_kinematic = this->config.get_config("kinematic");
+    [this, path](GetConfig::Request::SharedPtr request, GetConfig::Response::SharedPtr response) {
+      response->json_walking = jitsuyo::load_ordered_config(path, "walking.json");
+      response->json_kinematic = jitsuyo::load_ordered_config(path, "kinematic.json");
     });
 
   save_config_server = node->create_service<SaveConfig>(
     get_node_prefix() + "/save_config",
-    [this](SaveConfig::Request::SharedPtr request, SaveConfig::Response::SharedPtr response) {
-      try {
-        nlohmann::json kinematic_data = nlohmann::json::parse(request->json_kinematic);
-        nlohmann::json walking_data = nlohmann::json::parse(request->json_walking);
+    [this, path](SaveConfig::Request::SharedPtr request, SaveConfig::Response::SharedPtr response) {
+      nlohmann::ordered_json kinematic_data = nlohmann::ordered_json::parse(request->json_kinematic);
+      nlohmann::ordered_json walking_data = nlohmann::ordered_json::parse(request->json_walking);
+      response->status = false;
 
-        this->config.save_config(kinematic_data, walking_data);
-        response->status = true;
-      } catch (std::ofstream::failure) {
-        response->status = false;
-      } catch (nlohmann::json::exception) {
-        response->status = false;
+      if (!jitsuyo::save_config(path, "kinematic.json", kinematic_data)) {
+        RCLCPP_ERROR(rclcpp::get_logger("Save config server"), "Failed to save kinematic config");
+        return;
       }
+
+      if (!jitsuyo::save_config(path, "walking.json", walking_data)) {
+        RCLCPP_ERROR(rclcpp::get_logger("Save config server"), "Failed to save walking config");
+        return;
+      }
+
+      response->status = true;
     });
     config_grpc.Run(path, node, walking_node, walking_manager);
     RCLCPP_INFO(rclcpp::get_logger("GrpcServers"), "grpc running");