Remove JSON serialization (#88)

The Rust library build is broken by the JSON library's test folder having files whose names are too long on Windows; CI can't even clone the dependency's Git repo. We don't use the JSON serialization for anything anymore, so we can just remove it.
SleipnirGroup · Feb 17, 2024 · 524714c · 524714c
1 parent 54b910b
commit 524714c
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Showing 30 changed files with 9 additions and 468 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -104,21 +104,6 @@ endif()
 
 target_link_libraries(TrajoptLib PUBLIC fmt::fmt)
 
-# json dependency
-set(BUILD_SHARED_LIBS_SAVE ${BUILD_SHARED_LIBS})
-set(BUILD_SHARED_LIBS OFF)
-set(JSON_BuildTests OFF)
-set(JSON_Install ON)
-fetchcontent_declare(
-    nlohmann_json
-    GIT_REPOSITORY https://github.com/nlohmann/json
-    GIT_TAG v3.11.2
-)
-fetchcontent_makeavailable(nlohmann_json)
-set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_SAVE})
-
-target_link_libraries(TrajoptLib PUBLIC nlohmann_json::nlohmann_json)
-
 set(OPTIMIZER_BACKEND "casadi" CACHE STRING "Optimizer backend")
 set_property(CACHE OPTIMIZER_BACKEND PROPERTY STRINGS casadi sleipnir)
 

diff --git a/include/trajopt/constraint/AngularVelocityConstraint.h b/include/trajopt/constraint/AngularVelocityConstraint.h
@@ -4,12 +4,9 @@
 
 #include <optional>
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/IntervalSet1d.h"
 #include "trajopt/solution/SolutionChecking.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -31,9 +28,4 @@ struct TRAJOPT_DLLEXPORT AngularVelocityConstraint {
       const SolutionTolerances& tolerances) const noexcept;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(AngularVelocityConstraint,
-                                   angularVelocityBound)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::AngularVelocityConstraint)
diff --git a/include/trajopt/constraint/Constraint.h b/include/trajopt/constraint/Constraint.h
@@ -5,8 +5,6 @@
 #include <optional>
 #include <variant>
 
-#include <fmt/format.h>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
 #include "trajopt/constraint/HeadingConstraint.h"
@@ -66,54 +64,4 @@ std::optional<SolutionError> CheckState(
     const Constraint& constraint, double x, double y, double heading,
     const SolutionTolerances& tolerances) noexcept;
 
-NLOHMANN_JSON_SERIALIZE_ENUM(CoordinateSystem,
-                             {
-                                 {CoordinateSystem::kField, "field"},
-                                 {CoordinateSystem::kRobot, "robot"},
-                             })
-
 }  // namespace trajopt
-
-/**
- * Formatter for Constraint.
- */
-//! @cond Doxygen_Suppress
-template <>
-struct fmt::formatter<trajopt::Constraint> {
-  //! @endcond
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
-  constexpr auto parse(fmt::format_parse_context& ctx) { return ctx.begin(); }
-
-  /**
-   * Writes out a formatted Constraint.
-   *
-   * @param constraint Constraint instance.
-   * @param ctx Format string context.
-   */
-  auto format(const trajopt::Constraint& constraint,
-              fmt::format_context& ctx) const {
-    using namespace trajopt;
-    if (std::holds_alternative<TranslationConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<TranslationConstraint>(constraint));
-    } else if (std::holds_alternative<HeadingConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<HeadingConstraint>(constraint));
-    } else if (std::holds_alternative<LinePointConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<LinePointConstraint>(constraint));
-    } else if (std::holds_alternative<PointLineConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<PointLineConstraint>(constraint));
-    } else if (std::holds_alternative<PointPointConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<PointPointConstraint>(constraint));
-    } else {
-      return ctx.out();
-    }
-  }
-};
diff --git a/include/trajopt/constraint/HeadingConstraint.h b/include/trajopt/constraint/HeadingConstraint.h
@@ -4,12 +4,9 @@
 
 #include <optional>
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/IntervalSet1d.h"
 #include "trajopt/solution/SolutionChecking.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -30,8 +27,4 @@ struct TRAJOPT_DLLEXPORT HeadingConstraint {
       double theta, const SolutionTolerances& tolerances) const noexcept;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(HeadingConstraint, headingBound)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::HeadingConstraint)
diff --git a/include/trajopt/constraint/LinePointConstraint.h b/include/trajopt/constraint/LinePointConstraint.h
@@ -2,10 +2,7 @@
 
 #pragma once
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -30,11 +27,4 @@ struct LinePointConstraint {
   IntervalSet1d distance;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(LinePointConstraint, robotLineStartX,
-                                   robotLineStartY, robotLineEndX,
-                                   robotLineEndY, fieldPointX, fieldPointY,
-                                   distance)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::LinePointConstraint)
diff --git a/include/trajopt/constraint/PointLineConstraint.h b/include/trajopt/constraint/PointLineConstraint.h
@@ -2,10 +2,7 @@
 
 #pragma once
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -30,11 +27,4 @@ struct PointLineConstraint {
   IntervalSet1d distance;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(PointLineConstraint, robotPointX,
-                                   robotPointY, fieldLineStartX,
-                                   fieldLineStartY, fieldLineEndX,
-                                   fieldLineEndY, distance)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::PointLineConstraint)
diff --git a/include/trajopt/constraint/PointPointConstraint.h b/include/trajopt/constraint/PointPointConstraint.h
@@ -2,10 +2,7 @@
 
 #pragma once
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -26,10 +23,4 @@ struct PointPointConstraint {
   IntervalSet1d distance;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(PointPointConstraint, robotPointX,
-                                   robotPointY, fieldPointX, fieldPointY,
-                                   distance)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::PointPointConstraint)
diff --git a/include/trajopt/constraint/TranslationConstraint.h b/include/trajopt/constraint/TranslationConstraint.h
@@ -4,12 +4,9 @@
 
 #include <optional>
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/Set2d.h"
 #include "trajopt/solution/SolutionChecking.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -31,8 +28,4 @@ struct TRAJOPT_DLLEXPORT TranslationConstraint {
       double x, double y, const SolutionTolerances& tolerances) const noexcept;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TranslationConstraint, translationBound)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::TranslationConstraint)
diff --git a/include/trajopt/constraint/differential/DifferentialConstraint.h b/include/trajopt/constraint/differential/DifferentialConstraint.h
@@ -4,8 +4,6 @@
 
 #include <variant>
 
-#include <fmt/format.h>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
 #include "trajopt/constraint/Constraint.h"
@@ -21,45 +19,3 @@ using DifferentialConstraint =
                              DifferentialTangentialVelocityConstraint{},
                              DifferentialCentripetalAccelerationConstraint{}));
 }  // namespace trajopt
-
-/**
- * Formatter for HolonomicConstraint.
- */
-//! @cond Doxygen_Suppress
-template <>
-struct fmt::formatter<trajopt::DifferentialConstraint> {
-  //! @endcond
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
-  constexpr auto parse(fmt::format_parse_context& ctx) { return ctx.begin(); }
-
-  /**
-   * Writes out a formatted HolonomicConstraint.
-   *
-   * @param constraint HolonomicConstraint instance.
-   * @param ctx Format string context.
-   */
-  auto format(const trajopt::DifferentialConstraint& constraint,
-              fmt::format_context& ctx) const {
-    using namespace trajopt;
-    if (std::holds_alternative<AngularVelocityConstraint>(constraint)) {
-      return fmt::format_to(ctx.out(), "constraint: {}",
-                            std::get<AngularVelocityConstraint>(constraint));
-    } else if (std::holds_alternative<DifferentialTangentialVelocityConstraint>(
-                   constraint)) {
-      return fmt::format_to(
-          ctx.out(), "constraint: {}",
-          std::get<DifferentialTangentialVelocityConstraint>(constraint));
-    } else if (std::holds_alternative<
-                   DifferentialCentripetalAccelerationConstraint>(constraint)) {
-      return fmt::format_to(
-          ctx.out(), "constraint: {}",
-          std::get<DifferentialCentripetalAccelerationConstraint>(constraint));
-    } else {
-      return ctx.out();
-    }
-  }
-};
diff --git a/include/trajopt/constraint/differential/DifferentialTangentialVelocityConstraint.h b/include/trajopt/constraint/differential/DifferentialTangentialVelocityConstraint.h
@@ -4,8 +4,6 @@
 
 #include <optional>
 
-#include <fmt/format.h>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/Constraint.h"
 #include "trajopt/set/IntervalSet1d.h"
@@ -21,31 +19,3 @@ struct TRAJOPT_DLLEXPORT DifferentialTangentialVelocityConstraint {
   IntervalSet1d velocityBound;
 };
 }  // namespace trajopt
-
-/**
- * Formatter for VelocityConstraint.
- */
-//! @cond Doxygen_Suppress
-template <>
-struct fmt::formatter<trajopt::DifferentialTangentialVelocityConstraint> {
-  //! @endcond
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
-  constexpr auto parse(fmt::format_parse_context& ctx) { return ctx.begin(); }
-
-  /**
-   * Writes out a formatted VelocityConstraint.
-   *
-   * @param constraint VelocityConstraint instance.
-   * @param ctx Format string context.
-   */
-  auto format(
-      const trajopt::DifferentialTangentialVelocityConstraint& constraint,
-      fmt::format_context& ctx) const {
-    return fmt::format_to(ctx.out(), "diff velocity magnitude {}",
-                          constraint.velocityBound);
-  }
-};
diff --git a/include/trajopt/constraint/holonomic/HolonomicConstraint.h b/include/trajopt/constraint/holonomic/HolonomicConstraint.h
@@ -4,14 +4,11 @@
 
 #include <variant>
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
 #include "trajopt/constraint/holonomic/HolonomicVelocityConstraint.h"
 #include "trajopt/solution/SolutionChecking.h"
 #include "trajopt/util/AppendVariant.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -39,22 +36,3 @@ std::optional<SolutionError> CheckState(
     const SolutionTolerances& tolerances) noexcept;
 
 }  // namespace trajopt
-
-// For the serialization functions of HolonomicConstraint, we want to use the
-// serialization functions of the various constraint types
-// (TranslationConstraint, HeadingConstraint, etc.), but the implicit
-// conversion from each of those types to HolonomicConstraint (because of
-// std::variant) requires using this style of serialization that avoids that
-// issue.
-//! @cond Doxygen_Suppress
-namespace nlohmann {
-template <>
-struct adl_serializer<trajopt::HolonomicConstraint> {
-  static void to_json(json& j, const trajopt::HolonomicConstraint& constraint);
-  static void from_json(const json& j,
-                        trajopt::HolonomicConstraint& constraint);
-};
-}  // namespace nlohmann
-//! @endcond
-
-_JSON_FMT_FORMATTER(trajopt::HolonomicConstraint)
diff --git a/include/trajopt/constraint/holonomic/HolonomicVelocityConstraint.h b/include/trajopt/constraint/holonomic/HolonomicVelocityConstraint.h
@@ -4,13 +4,10 @@
 
 #include <optional>
 
-#include <nlohmann/json.hpp>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/Constraint.h"
 #include "trajopt/set/Set2d.h"
 #include "trajopt/solution/SolutionChecking.h"
-#include "trajopt/util/JsonFmtFormatter.h"
 
 namespace trajopt {
 
@@ -36,9 +33,4 @@ struct TRAJOPT_DLLEXPORT HolonomicVelocityConstraint {
       const SolutionTolerances& tolerances) const noexcept;
 };
 
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(HolonomicVelocityConstraint, velocityBound,
-                                   coordinateSystem)
-
 }  // namespace trajopt
-
-_JSON_FMT_FORMATTER(trajopt::HolonomicVelocityConstraint)