Update property tree toYaml to support excluding attributes

Author: Levi-Armstrong

tesseract_common/include/tesseract_common/property_tree.h

@@ -60,7 +60,7 @@ class PropertyTree
 
   static PropertyTree fromYAML(const YAML::Node& node);
 
-  YAML::Node toYAML() const;
+  YAML::Node toYAML(bool exclude_attributes = true) const;
 
 private:
   YAML::Node value_;

tesseract_common/src/property_tree.cpp

@@ -155,34 +155,36 @@ PropertyTree PropertyTree::fromYAML(const YAML::Node& node)
   return tree;
 }
 
-YAML::Node PropertyTree::toYAML() const
+YAML::Node PropertyTree::toYAML(bool exclude_attributes) const
 {
-  // Always emit a mapping if attributes exist or children exist
-  if (!attributes_.empty() || !children_.empty())
-  {
-    YAML::Node node(YAML::NodeType::Map);
-    // emit attributes first
-    if (!attributes_.empty())
-    {
-      YAML::Node attr_node(YAML::NodeType::Map);
-      for (const auto& pair : attributes_)
-        attr_node[pair.first] = pair.second;
+  // pure leaf without attributes or children: emit scalar/sequence directly
+  if (attributes_.empty() && children_.empty())
+    return value_;
 
-      node[ATTRIBUTES_KEY] = attr_node;
-    }
-    // emit children
-    for (const auto& pair : children_)
-      node[pair.first] = pair.second.toYAML();
+  // pure leaf with attributes excluded and no children: emit scalar/sequence directly
+  if (exclude_attributes && children_.empty())
+    return value_;
 
-    // if leaf (no children) but value present, emit under 'value'
-    if (children_.empty() && value_)
-      node[VALUE_KEY] = value_;
+  // Always emit a mapping if attributes exist or children exist
+  YAML::Node node(YAML::NodeType::Map);
+  // emit attributes first
+  if (!exclude_attributes && !attributes_.empty())
+  {
+    YAML::Node attr_node(YAML::NodeType::Map);
+    for (const auto& pair : attributes_)
+      attr_node[pair.first] = pair.second;
 
-    return node;
+    node[ATTRIBUTES_KEY] = attr_node;
   }
+  // emit children
+  for (const auto& pair : children_)
+    node[pair.first] = pair.second.toYAML(exclude_attributes);
+
+  // if leaf (no children) but value present, emit under 'value'
+  if (children_.empty() && value_)
+    node[VALUE_KEY] = value_;
 
-  // pure leaf without attributes: emit scalar/sequence directly
-  return value_;
+  return node;
 }
 
 void validateRequired(const PropertyTree& node)

tesseract_common/src/property_tree_demo.cpp

@@ -111,14 +111,15 @@ std::string str3 = R"(config:
 int main()
 {
   // Load configuration from YAML
-  PropertyTree prop = PropertyTree::fromYAML(YAML::Load(str3));
+  PropertyTree prop = PropertyTree::fromYAML(YAML::Load(str2));
 
   // Parse schema from external file (config_schema.yaml)
   PropertyTree schema = buildConfigSchema();
 
   // Merge schema metadata into config tree
   prop.mergeSchema(schema);
-  std::cout << prop.toYAML() << "\n";
+  std::cout << "Exclude attrubutes:\n" << prop.toYAML() << "\n\n";
+  std::cout << "Include attrubutes:\n" << prop.toYAML(false) << "\n\n";
 
   try
   {
@@ -130,13 +131,6 @@ int main()
     return 1;
   }
 
-  // if (!prop.validate(errors, "config"))
-  // {
-  //   std::cerr << "Validation errors:\n";
-  //   for (auto const& e : errors)
-  //     std::cerr << " - " << e << "\n";
-  //   return 1;
-  // }
   bool cond = prop.get("config").get("conditional").getValue().as<bool>();
   std::cout << "conditional = " << std::boolalpha << cond << "\n";
   return 0;