add PropertyMap -> vector<Msg> interface

Author: v4hn

core/include/moveit/task_constructor/properties.h

@@ -47,6 +47,8 @@
 #include <sstream>
 #include <ros/serialization.h>
 
+#include <moveit_task_constructor_msgs/Property.h>
+
 namespace moveit {
 namespace task_constructor {
 
@@ -297,13 +299,16 @@ class PropertyMap
 	Property& property(const std::string& name);
 	const Property& property(const std::string& name) const { return const_cast<PropertyMap*>(this)->property(name); }
 
+	void fillMsgs(std::vector<moveit_task_constructor_msgs::Property>& msg) const;
+
 	using iterator = std::map<std::string, Property>::iterator;
 	using const_iterator = std::map<std::string, Property>::const_iterator;
 
 	iterator begin() { return props_.begin(); }
 	iterator end() { return props_.end(); }
 	const_iterator begin() const { return props_.begin(); }
 	const_iterator end() const { return props_.end(); }
+	size_t size() const { return props_.size(); }
 
 	/// allow initialization from given source for listed properties - always using the same name
 	void configureInitFrom(Property::SourceFlags source, const std::set<std::string>& properties = {});

core/src/introspection.cpp

@@ -225,15 +225,7 @@ Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription
 		desc.name = stage.name();
 		desc.flags = stage.pimpl()->interfaceFlags();
 
-		// fill stage properties
-		for (const auto& pair : stage.properties()) {
-			moveit_task_constructor_msgs::Property p;
-			p.name = pair.first;
-			p.description = pair.second.description();
-			p.type = pair.second.typeName();
-			p.value = pair.second.serialize();
-			desc.properties.push_back(p);
-		}
+		stage.properties().fillMsgs(desc.properties);
 
 		auto it = impl->stage_to_id_map_.find(stage.pimpl()->parent()->pimpl());
 		assert(it != impl->stage_to_id_map_.cend());

core/src/properties.cpp

@@ -212,6 +212,18 @@ Property& PropertyMap::property(const std::string& name) {
 	return it->second;
 }
 
+void PropertyMap::fillMsgs(std::vector<moveit_task_constructor_msgs::Property>& msgs) const {
+	msgs.reserve(size());
+	for (const auto& pair : *this) {
+		msgs.emplace_back();
+		auto& p{ msgs.back() };
+		p.name = pair.first;
+		p.description = pair.second.description();
+		p.type = pair.second.typeName();
+		p.value = pair.second.serialize();
+	}
+}
+
 void PropertyMap::exposeTo(PropertyMap& other, const std::set<std::string>& properties) const {
 	for (const std::string& name : properties)
 		exposeTo(other, name, name);