WIP: Support VersionInformation in ScriptDreader DataVariant

Author: urfeex

include/ur_client_library/control/script_reader.h

@@ -44,13 +44,7 @@ namespace control
 class ScriptReader
 {
 public:
-  struct RobotInfo
-  {
-    VersionInformation version_info;
-    RobotType robot_type;
-  };
-
-  using DataVariant = std::variant<std::string, double, int, bool>;
+  using DataVariant = std::variant<std::string, double, int, bool, VersionInformation>;
   using DataDict = std::unordered_map<std::string, DataVariant>;
 
   ScriptReader() = default;

include/ur_client_library/ur/version_information.h

@@ -54,6 +54,11 @@ class VersionInformation
    */
   static VersionInformation fromString(const std::string& str);
 
+  /*!
+   * \brief Generates a string representation of the version information such as "5.12.0.1101319"
+   */
+  std::string toString() const;
+
   bool isESeries() const;
 
   friend bool operator==(const VersionInformation& v1, const VersionInformation& v2);
@@ -77,4 +82,4 @@ class VersionInformation
 std::vector<std::string> splitString(std::string input, const std::string& delimiter = ".");
 }  // namespace urcl
 
-#endif  // ifndef UR_CLIENT_LIBRARY_UR_VERSION_INFORMATION_H_INCLUDED
+#endif  // ifndef UR_CLIENT_LIBRARY_UR_VERSION_INFORMATION_H_INCLUDED

src/control/script_reader.cpp

@@ -86,6 +86,10 @@ bool operator<(const ScriptReader::DataVariant& lhs, const ScriptReader::DataVar
       return std::get<int>(lhs) < std::get<int>(rhs);
     }
   }
+  if (std::holds_alternative<VersionInformation>(lhs))
+  {
+    return std::get<VersionInformation>(lhs) < std::get<VersionInformation>(rhs);
+  }
   throw std::invalid_argument("The comparison operator is only allowed for numeric values.");
 }
 
@@ -141,6 +145,10 @@ bool operator==(const ScriptReader::DataVariant& lhs, const ScriptReader::DataVa
   {
     return std::get<bool>(lhs) == std::get<bool>(rhs);
   }
+  if (std::holds_alternative<VersionInformation>(lhs))
+  {
+    return std::get<VersionInformation>(lhs) == std::get<VersionInformation>(rhs);
+  }
   throw std::runtime_error("Unknown variant type passed to equality check. Please contact the developers.");
 }
 
@@ -224,6 +232,10 @@ void ScriptReader::replaceVariables(std::string& script_code, const DataDict& da
     {
       std::get<bool>(data.at(key)) ? replaced_value = "True" : replaced_value = "False";
     }
+    else if (std::holds_alternative<VersionInformation>(data.at(key)))
+    {
+      replaced_value = std::get<VersionInformation>(data.at(key)).toString();
+    }
     else
     {
       // This is more of a reminder if we add types to the variant and forget to add it here.
@@ -341,6 +353,7 @@ bool ScriptReader::checkCondition(const std::string& condition, const DataDict&
     std::regex string_pattern(R"(^['"]([^'"]+)?['"]$)");
     std::regex number_pattern(R"(^-?(?:\d+\.?\d*|\.\d+)(?:[eE][+-]?\d+)?$)");
     std::regex boolean_pattern(R"(^(true|false|yes|no|on|off)$)", std::regex::icase);
+    std::regex version_pattern(R"(^v(\d+\.\d+(\.\d+)?(-\d+)?)$)");
     if (std::regex_search(value_str, match, string_pattern))
     {
       value = match[1];  // Extract the string content without quotes
@@ -353,6 +366,10 @@ bool ScriptReader::checkCondition(const std::string& condition, const DataDict&
     {
       value = parseBoolean(value_str);
     }
+    else if (std::regex_search(value_str, match, version_pattern))
+    {
+      value = VersionInformation::fromString(match[1]);
+    }
     else if (data.count(value_str))
     {
       value = data.at(value_str);

src/ur/version_information.cpp

@@ -84,6 +84,11 @@ VersionInformation VersionInformation::fromString(const std::string& str)
 
   return info;
 }
+std::string VersionInformation::toString() const
+{
+  return std::to_string(this->major) + "." + std::to_string(this->minor) + "." + std::to_string(this->bugfix) + "-" +
+         std::to_string(this->build);
+}
 
 bool VersionInformation::isESeries() const
 {
@@ -144,4 +149,4 @@ bool operator>=(const VersionInformation& v1, const VersionInformation& v2)
 {
   return !(v1 < v2);
 }
-}  // namespace urcl
+}  // namespace urcl

tests/test_script_reader.cpp

@@ -353,6 +353,8 @@ TEST_F(ScriptReaderTest, DataVariantOperators)
   data["str2"] = "bar";
   data["bool1"] = true;
   data["bool2"] = false;
+  data["version1"] = urcl::VersionInformation::fromString("10.7.0");
+  data["version2"] = urcl::VersionInformation::fromString("5.22.1");
 
   // Equality
   EXPECT_TRUE(data["int1"] == 5);
@@ -368,12 +370,16 @@ TEST_F(ScriptReaderTest, DataVariantOperators)
   EXPECT_FALSE(data["bool1"] == 0.0);
   EXPECT_FALSE(data["bool1"] == 3.14);
   EXPECT_FALSE(data["bool1"] == 42);
+  EXPECT_TRUE(data["version1"] == urcl::VersionInformation::fromString("10.7.0"));
+  EXPECT_FALSE(data["version2"] == urcl::VersionInformation::fromString("10.7.0"));
+  EXPECT_FALSE(data["version2"] == data["version1"]);
 
   // Inequality
   EXPECT_TRUE(data["int1"] != 6);
   EXPECT_FALSE(data["int1"] != 5);
   EXPECT_TRUE(data["str1"] != std::string("bar"));
   EXPECT_FALSE(data["str1"] != std::string("foo"));
+  EXPECT_TRUE(data["version1"] != urcl::VersionInformation::fromString("1.2.3"));
 
   // Less, Greater, etc. (numeric only)
   EXPECT_TRUE(data["int1"] < data["int2"]);
@@ -383,6 +389,10 @@ TEST_F(ScriptReaderTest, DataVariantOperators)
   EXPECT_TRUE(data["double1"] <= data["double2"]);
   EXPECT_TRUE(data["double1"] >= data["double2"]);
   EXPECT_FALSE(data["int1"] < data["double1"]);
+  EXPECT_TRUE(data["version1"] > data["version2"]);
+  EXPECT_TRUE(data["version1"] >= data["version1"]);
+  EXPECT_TRUE(data["version1"] <= data["version1"]);
+  EXPECT_TRUE(data["version2"] < data["version1"]);
 
   // Invalid comparisons (should throw)
   EXPECT_THROW((void)(data["str1"] < data["str2"]), std::invalid_argument);