deke_types/
validator.rs

1use std::{fmt::Debug, sync::Arc};
2
3use crate::{DekeError, DekeResult, FKScalar, SRobotQ, SRobotQLike};
4
5
6pub trait ValidatorContext: Sized {}
7
8#[doc(hidden)]
9pub trait Leaf: ValidatorContext {}
10
11impl ValidatorContext for () {}
12
13#[macro_export]
14macro_rules! validator_context_type_impl {
15    ($($ident:ident),*) => {
16        $(
17            impl $crate::ValidatorContext for $ident {}
18            impl $crate::Leaf for $ident {}
19        )*
20    };
21}
22
23impl<A: ValidatorContext, B: ValidatorContext> ValidatorContext for (A, B) {}
24
25pub trait FromFlattened<Flattened>: ValidatorContext {
26    fn nest(flattened: Flattened) -> Self;
27}
28
29macro_rules! validator_context_tuple_impl {
30    ($tup:tt) => {
31        validator_context_tuple_impl!(@rewrite $tup [emit_impl]);
32    };
33
34    (@rewrite ($l:tt, $r:tt) [$($cb:tt)*]) => {
35        validator_context_tuple_impl!(@rewrite $l [pair_right $r [$($cb)*]]);
36    };
37    (@rewrite $ident:ident [$($cb:tt)*]) => {
38        validator_context_tuple_impl!(@invoke [$($cb)*] [$ident] $ident);
39        validator_context_tuple_impl!(@invoke [$($cb)*] [] ());
40    };
41
42    (@invoke [pair_right $r:tt [$($cb:tt)*]] [$($kept_l:ident)*] $rew_l:tt) => {
43        validator_context_tuple_impl!(@rewrite $r [pair_combine [$($kept_l)*] $rew_l [$($cb)*]]);
44    };
45    (@invoke [pair_combine [$($kept_l:ident)*] $rew_l:tt [$($cb:tt)*]] [$($kept_r:ident)*] $rew_r:tt) => {
46        validator_context_tuple_impl!(@invoke [$($cb)*] [$($kept_l)* $($kept_r)*] ($rew_l, $rew_r));
47    };
48    (@invoke [emit_impl] [$($kept:ident)*] $shape:tt) => {
49        #[allow(non_snake_case)]
50        impl<$($kept: Leaf),*> FromFlattened<($($kept,)*)> for $shape {
51            #[inline]
52            fn nest(flattened: ($($kept,)*)) -> Self {
53                let ($($kept,)*) = flattened;
54                $shape
55            }
56        }
57    };
58}
59
60validator_context_tuple_impl! { (A, (B, C)) }
61validator_context_tuple_impl! { ((A, B), C) }
62
63validator_context_tuple_impl! { (A, (B, (C, D))) }
64validator_context_tuple_impl! { (A, ((B, C), D)) }
65validator_context_tuple_impl! { ((A, B), (C, D)) }
66validator_context_tuple_impl! { ((A, (B, C)), D) }
67validator_context_tuple_impl! { (((A, B), C), D) }
68
69validator_context_tuple_impl! { (A, (B, (C, (D, E)))) }
70validator_context_tuple_impl! { (A, (B, ((C, D), E))) }
71validator_context_tuple_impl! { (A, ((B, C), (D, E))) }
72validator_context_tuple_impl! { (A, ((B, (C, D)), E)) }
73validator_context_tuple_impl! { (A, (((B, C), D), E)) }
74validator_context_tuple_impl! { ((A, B), (C, (D, E))) }
75validator_context_tuple_impl! { ((A, B), ((C, D), E)) }
76validator_context_tuple_impl! { ((A, (B, C)), (D, E)) }
77validator_context_tuple_impl! { (((A, B), C), (D, E)) }
78validator_context_tuple_impl! { ((A, (B, (C, D))), E) }
79validator_context_tuple_impl! { ((A, ((B, C), D)), E) }
80validator_context_tuple_impl! { (((A, B), (C, D)), E) }
81validator_context_tuple_impl! { (((A, (B, C)), D), E) }
82validator_context_tuple_impl! { ((((A, B), C), D), E) }
83
84validator_context_tuple_impl! { ((A, B), ((C, D), (E, F))) }
85validator_context_tuple_impl! { (((A, B), (C, D)), (E, F)) }
86validator_context_tuple_impl! { ((A, (B, C)), ((D, E), F)) }
87validator_context_tuple_impl! { (((A, B), C), ((D, E), F)) }
88
89#[doc(hidden)]
90mod sealed {
91    pub trait Sealed {}
92}
93
94pub trait ValidatorRet: Sized + sealed::Sealed + Copy {
95    fn as_f64(&self) -> f64;
96}
97
98impl sealed::Sealed for () {}
99impl ValidatorRet for () {
100    #[inline]
101    fn as_f64(&self) -> f64 {
102        f64::INFINITY
103    }
104}
105
106impl sealed::Sealed for f32 {}
107impl ValidatorRet for f32 {
108    #[inline]
109    fn as_f64(&self) -> f64 {
110        *self as f64
111    }
112}
113
114impl sealed::Sealed for f64 {}
115impl ValidatorRet for f64 {
116    #[inline]
117    fn as_f64(&self) -> f64 {
118        *self
119    }
120}
121
122pub trait Validator<const N: usize, R: ValidatorRet = (), F: FKScalar = f32>: Sized + Clone + Debug + Send + Sync + 'static {
123    type Context<'ctx>: ValidatorContext;
124
125    fn validate<'ctx, E: Into<DekeError>, A: SRobotQLike<N, E, F>>(
126        &self,
127        q: A,
128        ctx: &Self::Context<'ctx>,
129    ) -> DekeResult<R>;
130    fn validate_motion<'ctx>(
131        &self,
132        qs: &[SRobotQ<N, F>],
133        ctx: &Self::Context<'ctx>,
134    ) -> DekeResult<R>;
135}
136
137#[derive(Debug, Clone)]
138pub struct ValidatorAnd<A, B>(pub A, pub B);
139
140#[derive(Debug, Clone)]
141pub struct ValidatorOr<A, B>(pub A, pub B);
142
143#[derive(Debug, Clone)]
144pub struct ValidatorNot<A>(pub A);
145
146impl<const N: usize, F: FKScalar, R: ValidatorRet, A, B> Validator<N, R, F>
147    for ValidatorAnd<A, B>
148where
149    A: Validator<N, R, F>,
150    B: Validator<N, R, F>,
151{
152    type Context<'ctx> = (A::Context<'ctx>, B::Context<'ctx>);
153
154    #[inline]
155    fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, F>>(
156        &self,
157        q: Q,
158        ctx: &Self::Context<'ctx>,
159    ) -> DekeResult<R> {
160        let q = q.to_srobotq().map_err(Into::into)?;
161        self.0.validate(q, &ctx.0)?;
162        self.1.validate(q, &ctx.1)
163    }
164
165    #[inline]
166    fn validate_motion<'ctx>(
167        &self,
168        qs: &[SRobotQ<N, F>],
169        ctx: &Self::Context<'ctx>,
170    ) -> DekeResult<R> {
171        self.0.validate_motion(qs, &ctx.0)?;
172        self.1.validate_motion(qs, &ctx.1)
173    }
174}
175
176impl<const N: usize, F: FKScalar, R: ValidatorRet, A, B> Validator<N, R, F> for ValidatorOr<A, B>
177where
178    A: Validator<N, R, F>,
179    B: Validator<N, R, F>,
180{
181    type Context<'ctx> = (A::Context<'ctx>, B::Context<'ctx>);
182
183    #[inline]
184    fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, F>>(
185        &self,
186        q: Q,
187        ctx: &Self::Context<'ctx>,
188    ) -> DekeResult<R> {
189        let q = q.to_srobotq().map_err(Into::into)?;
190        match self.0.validate(q, &ctx.0) {
191            Ok(r) => Ok(r),
192            Err(_) => self.1.validate(q, &ctx.1),
193        }
194    }
195
196    #[inline]
197    fn validate_motion<'ctx>(
198        &self,
199        qs: &[SRobotQ<N, F>],
200        ctx: &Self::Context<'ctx>,
201    ) -> DekeResult<R> {
202        match self.0.validate_motion(qs, &ctx.0) {
203            Ok(r) => Ok(r),
204            Err(_) => self.1.validate_motion(qs, &ctx.1),
205        }
206    }
207}
208
209/// `Not` is only meaningful for `R = ()` (a pass/fail validator). For
210/// scalar-returning validators the inversion of the return value isn't
211/// well-defined, so the impl is restricted to the unit case.
212impl<const N: usize, F: FKScalar, A> Validator<N, (), F> for ValidatorNot<A>
213where
214    A: Validator<N, (), F>,
215{
216    type Context<'ctx> = A::Context<'ctx>;
217
218    #[inline]
219    fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, F>>(
220        &self,
221        q: Q,
222        ctx: &Self::Context<'ctx>,
223    ) -> DekeResult<()> {
224        let q = q.to_srobotq().map_err(Into::into)?;
225        match self.0.validate(q, ctx) {
226            Ok(()) => Err(DekeError::SuperError),
227            Err(_) => Ok(()),
228        }
229    }
230
231    #[inline]
232    fn validate_motion<'ctx>(
233        &self,
234        qs: &[SRobotQ<N, F>],
235        ctx: &Self::Context<'ctx>,
236    ) -> DekeResult<()> {
237        match self.0.validate_motion(qs, ctx) {
238            Ok(()) => Err(DekeError::SuperError),
239            Err(_) => Ok(()),
240        }
241    }
242}
243
244#[derive(Clone)]
245pub struct JointValidator<const N: usize, F: FKScalar = f32> {
246    lower: SRobotQ<N, F>,
247    upper: SRobotQ<N, F>,
248    extras: Option<Arc<[Box<dyn Fn(&SRobotQ<N, F>) -> bool + Send + Sync>]>>,
249}
250
251impl<const N: usize, F: FKScalar> Debug for JointValidator<N, F> {
252    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
253        f.debug_struct("JointValidator")
254            .field("lower", &self.lower)
255            .field("upper", &self.upper)
256            .field(
257                "extras",
258                &format!(
259                    "[{} extra checks]",
260                    self.extras.as_ref().map(|e| e.len()).unwrap_or(0)
261                ),
262            )
263            .finish()
264    }
265}
266
267impl<const N: usize, F: FKScalar> JointValidator<N, F> {
268    pub fn new(lower: SRobotQ<N, F>, upper: SRobotQ<N, F>) -> Self {
269        Self {
270            lower,
271            upper,
272            extras: None,
273        }
274    }
275
276    pub fn new_with_extras(
277        lower: SRobotQ<N, F>,
278        upper: SRobotQ<N, F>,
279        extras: Vec<Box<dyn Fn(&SRobotQ<N, F>) -> bool + Send + Sync>>,
280    ) -> Self {
281        Self {
282            lower,
283            upper,
284            extras: Some(extras.into()),
285        }
286    }
287}
288
289impl<const N: usize, F: FKScalar> Validator<N, (), F> for JointValidator<N, F> {
290    type Context<'ctx> = ();
291
292    #[inline]
293    fn validate<'ctx, E: Into<DekeError>, Q: SRobotQLike<N, E, F>>(
294        &self,
295        q: Q,
296        _ctx: &Self::Context<'ctx>,
297    ) -> DekeResult<()> {
298        let q = q.to_srobotq().map_err(Into::into)?;
299        if q.any_lt(&self.lower) || q.any_gt(&self.upper) {
300            return Err(DekeError::ExceedJointLimits);
301        }
302        if let Some(extras) = &self.extras {
303            for check in extras.iter() {
304                if !check(&q) {
305                    return Err(DekeError::ExceedJointLimits);
306                }
307            }
308        }
309        Ok(())
310    }
311
312    #[inline]
313    fn validate_motion<'ctx>(
314        &self,
315        qs: &[SRobotQ<N, F>],
316        _ctx: &Self::Context<'ctx>,
317    ) -> DekeResult<()> {
318        for q in qs {
319            self.validate(*q, _ctx)?;
320        }
321        Ok(())
322    }
323}
deke_types/validator.rs

deke_types/
validator.rs
