algorithm def

src/Core/Algorithm.h

@@ -0,0 +1,234 @@
+/*//////////////////////////////////////////////////////////////////////////////
+// CMT Cosmic Muon Tomography project //////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+  Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
+  All rights reserved
+
+  Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
+
+  ------------------------------------------------------------------
+  This library is free software;  you  can  redistribute  it  and/or
+  modify it  under the  terms  of  the  GNU  Lesser  General  Public
+  License as published  by  the  Free  Software  Foundation;  either
+  version 3.0 of the License, or (at your option) any later version.
+
+  This library is  distributed in  the hope that it will  be useful,
+  but  WITHOUT ANY WARRANTY;  without  even  the implied warranty of
+  MERCHANTABILITY  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of  the GNU Lesser General  Public
+  License along with this library.
+
+//////////////////////////////////////////////////////////////////////////////*/
+
+#ifndef U_CORE_ALGORITHM_H
+#define U_CORE_ALGORITHM_H
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+
+#include "Core/Object.h"
+#include "Core/Monitor.h"
+#include "Core/Threads.h"
+#include "Core/Property.h"
+
+namespace uLib {
+
+////////////////////////////////////////////////////////////////////////////////
+//// ALGORITHM /////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * @brief Algorithm is a template class for containing a functional that can be
+ * dynamically loaded as a plug-in. It derives from Object and supports
+ * properties for serialization and interactive parameter widgets.
+ *
+ * @tparam T_enc Encoder type: the input data type, or a chained algorithm
+ *               whose output is compatible with this algorithm's input.
+ * @tparam T_dec Decoder type: the output data type, or a chained algorithm
+ *               whose input is compatible with this algorithm's output.
+ */
+template <typename T_enc, typename T_dec>
+class Algorithm : public Object {
+public:
+    using EncoderType = T_enc;
+    using DecoderType = T_dec;
+
+    Algorithm() : Object(), m_Encoder(nullptr), m_Decoder(nullptr) {}
+    virtual ~Algorithm() = default;
+
+    virtual const char* GetClassName() const override { return "Algorithm"; }
+
+    /**
+     * @brief Process input data and produce output.
+     * Override this in subclasses to implement the algorithm logic.
+     */
+    virtual T_dec Process(const T_enc& input) = 0;
+
+    /**
+     * @brief Operator form of Process for functional chaining.
+     */
+    T_dec operator()(const T_enc& input) { return Process(input); }
+
+    void SetEncoder(Algorithm* enc) { m_Encoder = enc; }
+    Algorithm* GetEncoder() const { return m_Encoder; }
+
+    void SetDecoder(Algorithm* dec) { m_Decoder = dec; }
+    Algorithm* GetDecoder() const { return m_Decoder; }
+
+signals:
+    virtual void Started() { ULIB_SIGNAL_EMIT(Algorithm::Started); }
+    virtual void Finished() { ULIB_SIGNAL_EMIT(Algorithm::Finished); }
+
+protected:
+    Algorithm* m_Encoder;
+    Algorithm* m_Decoder;
+};
+
+
+////////////////////////////////////////////////////////////////////////////////
+//// ALGORITHM TASK ////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * @brief AlgorithmTask manages the execution of an Algorithm within a
+ * scheduled context. Uses uLib::Thread for execution and uLib::Mutex for
+ * synchronization. Supports cyclic mode (with configurable period) and
+ * asynchronous mode (triggered by Object signal-slot or condition variable
+ * from Monitor.h).
+ */
+template <typename T_enc, typename T_dec>
+class AlgorithmTask : public Thread {
+public:
+    using AlgorithmType = Algorithm<T_enc, T_dec>;
+
+    enum Mode { Cyclic, Async };
+
+    AlgorithmTask()
+        : Thread()
+        , m_Algorithm(nullptr)
+        , m_Mode(Cyclic)
+        , m_CycleTime_ms(1000)
+        , m_StopRequested(false)
+        , m_Triggered(false)
+    {}
+
+    virtual ~AlgorithmTask() { Stop(); }
+
+    virtual const char* GetClassName() const override { return "AlgorithmTask"; }
+
+    void SetAlgorithm(AlgorithmType* alg) { m_Algorithm = alg; }
+    AlgorithmType* GetAlgorithm() const { return m_Algorithm; }
+
+    void SetMode(Mode mode) { m_Mode = mode; }
+    Mode GetMode() const { return m_Mode; }
+
+    void SetCycleTime(int milliseconds) { m_CycleTime_ms = milliseconds; }
+    int GetCycleTime() const { return m_CycleTime_ms; }
+
+    /**
+     * @brief Start the task execution in a separate thread (via Thread::Start).
+     * In Cyclic mode, the algorithm is executed periodically.
+     * In Async mode, call Notify() or connect a signal to trigger execution.
+     */
+    void Run(const T_enc& input) {
+        if (IsRunning()) return;
+        m_StopRequested.store(false);
+        m_Triggered.store(false);
+        m_Input = input;
+        Start();
+    }
+
+    /**
+     * @brief Stop the task execution and join the thread.
+     */
+    void Stop() {
+        m_StopRequested.store(true);
+        {
+            ULIB_MUTEX_LOCK(m_WaitMutex, -1) {
+                m_Condition.notify_all();
+            }
+        }
+        if (IsJoinable()) Join();
+    }
+
+    /**
+     * @brief Notify the task to execute one iteration (Async mode).
+     * Can be called from a signal-slot connection or externally.
+     */
+    void Notify() {
+        m_Triggered.store(true);
+        ULIB_MUTEX_LOCK(m_WaitMutex, -1) {
+            m_Condition.notify_one();
+        }
+    }
+
+    /**
+     * @brief Connect an Object signal to trigger async execution.
+     * Usage: task.ConnectTrigger(sender, &SenderClass::SomeSignal);
+     */
+    template <typename Func1>
+    Connection ConnectTrigger(typename FunctionPointer<Func1>::Object* sender, Func1 sigf) {
+        return Object::connect(sender, sigf, [this]() { Notify(); });
+    }
+
+signals:
+    virtual void Stopped() { ULIB_SIGNAL_EMIT(AlgorithmTask::Stopped); }
+
+protected:
+    /**
+     * @brief Thread entry point — dispatches to cyclic or async loop.
+     */
+    void Run() override {
+        if (m_Mode == Cyclic) {
+            RunCyclic();
+        } else {
+            RunAsync();
+        }
+        Stopped();
+    }
+
+private:
+    void RunCyclic() {
+        while (!m_StopRequested.load()) {
+            if (m_Algorithm) {
+                m_Algorithm->Process(m_Input);
+            }
+            std::unique_lock<std::timed_mutex> lock(m_WaitMutex.GetNative());
+            m_Condition.wait_for(lock,
+                std::chrono::milliseconds(m_CycleTime_ms),
+                [this]() { return m_StopRequested.load(); });
+        }
+    }
+
+    void RunAsync() {
+        while (!m_StopRequested.load()) {
+            std::unique_lock<std::timed_mutex> lock(m_WaitMutex.GetNative());
+            m_Condition.wait(lock, [this]() {
+                return m_StopRequested.load() || m_Triggered.load();
+            });
+            if (m_StopRequested.load()) break;
+            m_Triggered.store(false);
+            if (m_Algorithm) {
+                m_Algorithm->Process(m_Input);
+            }
+        }
+    }
+
+    AlgorithmType* m_Algorithm;
+    Mode m_Mode;
+    int m_CycleTime_ms;
+    T_enc m_Input;
+
+    std::atomic<bool> m_StopRequested;
+    std::atomic<bool> m_Triggered;
+    Mutex m_WaitMutex;
+    std::condition_variable_any m_Condition;
+};
+
+} // namespace uLib
+
+#endif // U_CORE_ALGORITHM_H

src/Core/CMakeLists.txt

@@ -1,7 +1,8 @@
 
-set(HEADERS 
-    Archives.h 
-    Array.h 
+set(HEADERS
+    Algorithm.h
+    Archives.h
+    Array.h
     Collection.h 
     DataAllocator.h 
     Debug.h 

src/Core/Object.cpp

@@ -90,10 +90,10 @@ const std::vector<PropertyBase*>& Object::GetProperties() const {
 
 PropertyBase* Object::GetProperty(const std::string& name) const {
     for (auto* p : d->m_Properties) {
-        if (p->GetName() == name) return p;
+        if (p->GetName() == name || p->GetQualifiedName() == name) return p;
     }
     for (auto* p : d->m_DynamicProperties) {
-        if (p->GetName() == name) return p;
+        if (p->GetName() == name || p->GetQualifiedName() == name) return p;
     }
     return nullptr;
 }

src/Core/Property.h

@@ -2,11 +2,16 @@
 #define U_CORE_PROPERTY_H
 
 #include <string>
+#include <vector>
 #include <sstream>
 #include <typeinfo>
 #include <typeindex> // Added
 #include <boost/serialization/nvp.hpp>
 #include <boost/lexical_cast.hpp>
+#include <vector>
+#include <boost/type_traits/is_class.hpp>
+#include <boost/mpl/bool.hpp>
+#include <boost/serialization/serialization.hpp>
 #include "Core/Archives.h"
 #include "Core/Signal.h"
 #include "Core/Object.h"
@@ -29,6 +34,12 @@ public:
       static std::vector<std::string> empty;
       return empty;
   }
+  virtual const std::string& GetGroup() const = 0;
+  virtual void SetGroup(const std::string& group) = 0;
+  std::string GetQualifiedName() const {
+      if (GetGroup().empty()) return GetName();
+      return GetGroup() + "." + GetName();
+  }
 
   // Signal support
   signals:
@@ -51,16 +62,16 @@ template <typename T>
 class Property : public PropertyBase {
 public:
   // PROXY: Use an existing variable as back-end storage
-  Property(Object* owner, const std::string& name, T* valuePtr, const std::string& units = "")
-    : m_owner(owner), m_name(name), m_units(units), m_value(valuePtr), m_own(false) {
+  Property(Object* owner, const std::string& name, T* valuePtr, const std::string& units = "", const std::string& group = "")
+    : m_owner(owner), m_name(name), m_units(units), m_group(group), m_value(valuePtr), m_own(false) {
       if (m_owner) {
           m_owner->RegisterProperty(this);
       }
   }
 
   // MANAGED: Create and own internal storage
-  Property(Object* owner, const std::string& name, const T& defaultValue = T(), const std::string& units = "")
-    : m_owner(owner), m_name(name), m_units(units), m_value(new T(defaultValue)), m_own(true) {
+  Property(Object* owner, const std::string& name, const T& defaultValue = T(), const std::string& units = "", const std::string& group = "")
+    : m_owner(owner), m_name(name), m_units(units), m_group(group), m_value(new T(defaultValue)), m_own(true) {
       if (m_owner) {
           m_owner->RegisterProperty(this);
       }
@@ -76,6 +87,8 @@ public:
   virtual std::type_index GetTypeIndex() const override { return std::type_index(typeid(T)); }
   virtual const std::string& GetUnits() const override { return m_units; }
   virtual void SetUnits(const std::string& units) override { m_units = units; }
+  virtual const std::string& GetGroup() const override { return m_group; }
+  virtual void SetGroup(const std::string& group) override { m_group = group; }
 
   
   std::string GetValueAsString() const override {
@@ -127,6 +140,7 @@ public:
 private:
   std::string m_name;
   std::string m_units;
+  std::string m_group;
   T* m_value;
   bool m_own;
   Object* m_owner;
@@ -149,8 +163,8 @@ typedef Property<Bool_t>      BoolProperty;
  */
 class EnumProperty : public Property<int> {
 public:
-  EnumProperty(Object* owner, const std::string& name, int* valuePtr, const std::vector<std::string>& labels, const std::string& units = "")
-    : Property<int>(owner, name, valuePtr, units), m_Labels(labels) {}
+  EnumProperty(Object* owner, const std::string& name, int* valuePtr, const std::vector<std::string>& labels, const std::string& units = "", const std::string& group = "")
+    : Property<int>(owner, name, valuePtr, units, group), m_Labels(labels) {}
 
   const std::vector<std::string>& GetEnumLabels() const override { return m_Labels; }
   const char* GetTypeName() const override { return "Enum"; }
@@ -209,11 +223,20 @@ public:
         boost::archive::detail::common_oarchive<property_register_archive>(boost::archive::no_header),
         m_Object(obj) {}
     
+    std::string GetCurrentGroup() const {
+        std::string group;
+        for (const auto& g : m_GroupStack) {
+            if (!group.empty()) group += ".";
+            group += g;
+        }
+        return group;
+    }
+
     // Core logic: encounter HRP -> Create Dynamic Property
     template<class T>
     void save_override(const boost::serialization::hrp<T> &t) {
         if (m_Object) {
-            Property<T>* p = new Property<T>(m_Object, t.name(), &const_cast<boost::serialization::hrp<T>&>(t).value(), t.units() ? t.units() : "");
+            Property<T>* p = new Property<T>(m_Object, t.name(), &const_cast<boost::serialization::hrp<T>&>(t).value(), t.units() ? t.units() : "", GetCurrentGroup());
             m_Object->RegisterDynamicProperty(p);
         }
     }
@@ -221,7 +244,7 @@ public:
     template<class T>
     void save_override(const boost::serialization::hrp_enum<T> &t) {
         if (m_Object) {
-            EnumProperty* p = new EnumProperty(m_Object, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "");
+            EnumProperty* p = new EnumProperty(m_Object, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "", GetCurrentGroup());
             m_Object->RegisterDynamicProperty(p);
         }
     }
@@ -229,11 +252,24 @@ public:
     // Handle standard NVPs by recursing (important for base classes)
     template<class T>
     void save_override(const boost::serialization::nvp<T> &t) {
-        boost::archive::detail::common_oarchive<property_register_archive>::save_override(t.const_value());
+        if (t.name()) m_GroupStack.push_back(t.name());
+        this->save_helper(t.const_value(), typename boost::is_class<T>::type());
+        if (t.name()) m_GroupStack.pop_back();
     }
 
-    // Ignore everything else
-    template<class T> void save_override(const T &t) {}
+    // Recursion for nested classes, ignore primitives
+    template<class T>
+    void save_override(const T &t) {
+        this->save_helper(t, typename boost::is_class<T>::type());
+    }
+
+    template<class T>
+    void save_helper(const T &t, boost::mpl::true_) {
+        boost::serialization::serialize_adl(*this, const_cast<T&>(t), 0);
+    }
+
+    template<class T>
+    void save_helper(const T &t, boost::mpl::false_) {}
 
     // Required attribute overrides for common_oarchive
     void save_override(const boost::archive::object_id_type & t) {}
@@ -244,6 +280,9 @@ public:
     void save_override(const boost::archive::class_id_reference_type & t) {}
     void save_override(const boost::archive::class_name_type & t) {}
     void save_override(const boost::archive::tracking_type & t) {}
+
+private:
+    std::vector<std::string> m_GroupStack;
 };
 
 /**

src/Core/testing/AlgorithmTest.cpp

@@ -0,0 +1,206 @@
+#include "Core/Algorithm.h"
+#include <iostream>
+#include <atomic>
+#include <cassert>
+
+using namespace uLib;
+
+////////////////////////////////////////////////////////////////////////////////
+// Test algorithms
+
+class DoubleAlgorithm : public Algorithm<int, int> {
+public:
+    const char* GetClassName() const override { return "DoubleAlgorithm"; }
+    int Process(const int& input) override {
+        m_CallCount++;
+        return input * 2;
+    }
+    std::atomic<int> m_CallCount{0};
+};
+
+class StringifyAlgorithm : public Algorithm<int, std::string> {
+public:
+    const char* GetClassName() const override { return "StringifyAlgorithm"; }
+    std::string Process(const int& input) override {
+        return std::to_string(input);
+    }
+};
+
+// Signal source to test ConnectTrigger
+class TriggerSource : public Object {
+public:
+    const char* GetClassName() const override { return "TriggerSource"; }
+signals:
+    virtual void DataReady() { ULIB_SIGNAL_EMIT(TriggerSource::DataReady); }
+};
+
+////////////////////////////////////////////////////////////////////////////////
+// Tests
+
+void TestBasicProcess() {
+    std::cout << "Testing basic Algorithm::Process..." << std::endl;
+    DoubleAlgorithm alg;
+    assert(alg.Process(5) == 10);
+    assert(alg.Process(-3) == -6);
+    assert(alg.Process(0) == 0);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestOperatorCall() {
+    std::cout << "Testing Algorithm::operator()..." << std::endl;
+    DoubleAlgorithm alg;
+    assert(alg(7) == 14);
+    assert(alg(0) == 0);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestEncoderDecoderChain() {
+    std::cout << "Testing encoder/decoder chain pointers..." << std::endl;
+    DoubleAlgorithm a, b;
+    a.SetDecoder(&b);
+    b.SetEncoder(&a);
+    assert(a.GetDecoder() == &b);
+    assert(b.GetEncoder() == &a);
+    assert(a.GetEncoder() == nullptr);
+    assert(b.GetDecoder() == nullptr);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestAlgorithmSignals() {
+    std::cout << "Testing Algorithm signals..." << std::endl;
+    DoubleAlgorithm alg;
+    bool started = false;
+    bool finished = false;
+    Object::connect(&alg, &DoubleAlgorithm::Started, [&]() { started = true; });
+    Object::connect(&alg, &DoubleAlgorithm::Finished, [&]() { finished = true; });
+    alg.Started();
+    alg.Finished();
+    assert(started);
+    assert(finished);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestCyclicTask() {
+    std::cout << "Testing AlgorithmTask cyclic mode (Thread-based)..." << std::endl;
+    DoubleAlgorithm alg;
+    AlgorithmTask<int, int> task;
+    task.SetAlgorithm(&alg);
+    task.SetMode(AlgorithmTask<int, int>::Cyclic);
+    task.SetCycleTime(50);
+
+    assert(!task.IsRunning());
+    task.Run(5);
+
+    // Let it run for ~200ms -> expect ~4 cycles
+    Thread::Sleep(220);
+    task.Stop();
+
+    assert(!task.IsRunning());
+    int count = alg.m_CallCount.load();
+    std::cout << "  Cyclic iterations: " << count << std::endl;
+    assert(count >= 3 && count <= 6);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestAsyncTask() {
+    std::cout << "Testing AlgorithmTask async mode (Mutex + condition_variable)..." << std::endl;
+    DoubleAlgorithm alg;
+    AlgorithmTask<int, int> task;
+    task.SetAlgorithm(&alg);
+    task.SetMode(AlgorithmTask<int, int>::Async);
+
+    task.Run(42);
+    Thread::Sleep(50); // let the thread start and wait
+
+    // Trigger 3 notifications
+    for (int i = 0; i < 3; ++i) {
+        task.Notify();
+        Thread::Sleep(30);
+    }
+
+    task.Stop();
+    int count = alg.m_CallCount.load();
+    std::cout << "  Async invocations: " << count << std::endl;
+    assert(count == 3);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestConnectTrigger() {
+    std::cout << "Testing AlgorithmTask::ConnectTrigger (signal-slot async)..." << std::endl;
+    DoubleAlgorithm alg;
+    AlgorithmTask<int, int> task;
+    task.SetAlgorithm(&alg);
+    task.SetMode(AlgorithmTask<int, int>::Async);
+
+    TriggerSource source;
+    task.ConnectTrigger(&source, &TriggerSource::DataReady);
+
+    task.Run(10);
+    Thread::Sleep(50);
+
+    // Emit signal 3 times
+    for (int i = 0; i < 3; ++i) {
+        source.DataReady();
+        Thread::Sleep(30);
+    }
+
+    task.Stop();
+    int count = alg.m_CallCount.load();
+    std::cout << "  Signal-triggered invocations: " << count << std::endl;
+    assert(count == 3);
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestTaskStoppedSignal() {
+    std::cout << "Testing AlgorithmTask Stopped signal..." << std::endl;
+    DoubleAlgorithm alg;
+    AlgorithmTask<int, int> task;
+    task.SetAlgorithm(&alg);
+    task.SetMode(AlgorithmTask<int, int>::Cyclic);
+    task.SetCycleTime(20);
+
+    std::atomic<bool> stopped{false};
+    Object::connect(&task, &AlgorithmTask<int, int>::Stopped,
+                    [&]() { stopped.store(true); });
+
+    task.Run(1);
+    Thread::Sleep(50);
+    task.Stop();
+    Thread::Sleep(50);
+
+    assert(stopped.load());
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestClassName() {
+    std::cout << "Testing GetClassName..." << std::endl;
+    DoubleAlgorithm alg;
+    AlgorithmTask<int, int> task;
+    assert(std::string(alg.GetClassName()) == "DoubleAlgorithm");
+    assert(std::string(task.GetClassName()) == "AlgorithmTask");
+    std::cout << "  Passed." << std::endl;
+}
+
+void TestDifferentTypes() {
+    std::cout << "Testing Algorithm with different enc/dec types..." << std::endl;
+    StringifyAlgorithm alg;
+    assert(alg.Process(42) == "42");
+    assert(alg.Process(-1) == "-1");
+    assert(alg(100) == "100");
+    std::cout << "  Passed." << std::endl;
+}
+
+int main() {
+    TestBasicProcess();
+    TestOperatorCall();
+    TestEncoderDecoderChain();
+    TestAlgorithmSignals();
+    TestDifferentTypes();
+    TestCyclicTask();
+    TestAsyncTask();
+    TestConnectTrigger();
+    TestTaskStoppedSignal();
+    TestClassName();
+    std::cout << "All Algorithm tests passed!" << std::endl;
+    return 0;
+}

src/Core/testing/CMakeLists.txt

@@ -23,11 +23,13 @@ set( TESTS
         VectorMetaAllocatorTest
         PropertyTypesTest
         HRPTest
+        PropertyGroupingTest
         MutexTest
         ThreadsTest
         OpenMPTest
         TeamTest
         AffinityTest
+        AlgorithmTest
 )
 
 set(LIBRARIES

src/Core/testing/PropertyGroupingTest.cpp

@@ -0,0 +1,78 @@
+#include <iostream>
+#include <vector>
+#include <string>
+#include <cassert>
+#include "Core/Object.h"
+#include "Core/Property.h"
+
+using namespace uLib;
+
+struct Nested {
+    float x = 1.0f;
+    float y = 2.0f;
+
+    ULIB_SERIALIZE_ACCESS
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & HRP(x);
+        ar & HRP(y);
+    }
+};
+
+class GroupObject : public Object {
+    uLibTypeMacro(GroupObject, Object)
+public:
+    Nested position;
+    Nested orientation;
+    float weight = 50.0f;
+
+    ULIB_SERIALIZE_ACCESS
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & boost::serialization::make_nvp("Position", position);
+        ar & boost::serialization::make_nvp("Orientation", orientation);
+        ar & HRP(weight);
+    }
+};
+
+int main() {
+    std::cout << "Testing Property Grouping..." << std::endl;
+
+    GroupObject obj;
+    ULIB_ACTIVATE_PROPERTIES(obj);
+
+    auto props = obj.GetProperties();
+    std::cout << "Registered " << props.size() << " properties." << std::endl;
+
+    for (auto* p : props) {
+        std::cout << "Prop: " << p->GetName() 
+                  << " Group: " << p->GetGroup() 
+                  << " Qualified: " << p->GetQualifiedName() << std::endl;
+    }
+
+    // Check if nested properties are registered
+    PropertyBase* p1 = obj.GetProperty("Position.x");
+    PropertyBase* p2 = obj.GetProperty("Position.y");
+    PropertyBase* p3 = obj.GetProperty("Orientation.x");
+    PropertyBase* p4 = obj.GetProperty("Orientation.y");
+    PropertyBase* p5 = obj.GetProperty("weight");
+
+    assert(p1 != nullptr && "Position.x not found");
+    assert(p2 != nullptr && "Position.y not found");
+    assert(p3 != nullptr && "Orientation.x not found");
+    assert(p4 != nullptr && "Orientation.y not found");
+    assert(p5 != nullptr && "weight not found");
+
+    assert(p1->GetGroup() == "Position");
+    assert(p2->GetGroup() == "Position");
+    assert(p3->GetGroup() == "Orientation");
+    assert(p4->GetGroup() == "Orientation");
+    assert(p5->GetGroup() == "");
+
+    assert(p1->GetQualifiedName() == "Position.x");
+    assert(p5->GetQualifiedName() == "weight");
+
+    std::cout << "Property Grouping Tests PASSED!" << std::endl;
+
+    return 0;
+}

src/Vtk/uLibVtkInterface.cxx

@@ -61,6 +61,7 @@
 
 #include "uLibVtkInterface.h"
 #include "vtkHandlerWidget.h"
+#include "Math/Dense.h"
 #include "Core/Property.h"
 
 
@@ -96,9 +97,9 @@ public:
         m_Dragable(true)
     {
         m_Color[0] = m_Color[1] = m_Color[2] = -1.0;
-        m_Position[0] = m_Position[1] = m_Position[2] = 0.0;
-        m_Orientation[0] = m_Orientation[1] = m_Orientation[2] = 0.0;
-        m_Scale[0] = m_Scale[1] = m_Scale[2] = 1.0;
+        m_Position = Vector3d::Zero();
+        m_Orientation = Vector3d::Zero();
+        m_Scale = Vector3d::Ones();
     }
 
     ~PuppetData() {
@@ -124,9 +125,9 @@ public:
     bool m_Selected;
     bool m_Visibility;
     bool m_Dragable;
-    double m_Position[3];
-    double m_Orientation[3];
-    double m_Scale[3];
+    Vector3d m_Position;
+    Vector3d m_Orientation;
+    Vector3d m_Scale;
 
     void ApplyAppearance(vtkProp *p) {
         p->SetVisibility(m_Visibility);
@@ -156,9 +157,9 @@ public:
         // Handle transformation if it's a Prop3D
         if (auto* p3d = vtkProp3D::SafeDownCast(p)) {
             // NOTE: Usually managed by Puppet::Update from model, but here for direct prop manipulation
-            // p3d->SetPosition(m_Position);
-            // p3d->SetOrientation(m_Orientation);
-            // p3d->SetScale(m_Scale);
+            // p3d->SetPosition(m_Position.data());
+            // p3d->SetOrientation(m_Orientation.data());
+            // p3d->SetScale(m_Scale.data());
         }
     }
 
@@ -499,9 +500,9 @@ void Puppet::Update()
         
         // Apply transformation if it's a Prop3D
         if (auto* p3d = vtkProp3D::SafeDownCast(root)) {
-             p3d->SetPosition(pd->m_Position);
-             p3d->SetOrientation(pd->m_Orientation);
-             p3d->SetScale(pd->m_Scale);
+             p3d->SetPosition(pd->m_Position.data());
+             p3d->SetOrientation(pd->m_Orientation.data());
+             p3d->SetScale(pd->m_Scale.data());
         }
     }
 
@@ -549,9 +550,9 @@ void Puppet::SyncFromVtk()
 
         // Update properties
         for (int i=0; i<3; ++i) {
-            pd->m_Position[i] = pos[i];
-            pd->m_Orientation[i] = ori[i];
-            pd->m_Scale[i] = scale[i];
+            pd->m_Position(i) = pos[i];
+            pd->m_Orientation(i) = ori[i];
+            pd->m_Scale(i) = scale[i];
         }
         
         // Get the properties from the object
@@ -567,26 +568,37 @@ void Puppet::ConnectInteractor(vtkRenderWindowInteractor *interactor)
 {
 }
 
+struct TransformProxy {
+    PuppetData* pd;
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & boost::serialization::make_hrp("Position", pd->m_Position, "mm");
+        ar & boost::serialization::make_hrp("Orientation", pd->m_Orientation, "deg");
+        ar & boost::serialization::make_hrp("Scale", pd->m_Scale, "");
+    }
+};
+
+struct AppearanceProxy {
+    PuppetData* pd;
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & boost::serialization::make_hrp("ColorR", pd->m_Color[0]);
+        ar & boost::serialization::make_hrp("ColorG", pd->m_Color[1]);
+        ar & boost::serialization::make_hrp("ColorB", pd->m_Color[2]);
+        ar & boost::serialization::make_hrp("Opacity", pd->m_Opacity);
+        ar & boost::serialization::make_hrp_enum("Representation", pd->m_Representation, {"Points", "Wireframe", "Surface", "SurfaceWithEdges", "Volume", "Outline", "Slice"});
+        ar & boost::serialization::make_hrp("Visibility", pd->m_Visibility);
+        ar & boost::serialization::make_hrp("Pickable", pd->m_Selectable);
+        ar & boost::serialization::make_hrp("Dragable", pd->m_Dragable);
+    }
+};
+
 void Puppet::serialize_display(Archive::display_properties_archive & ar, const unsigned int version) {
-    ar & boost::serialization::make_hrp("ColorR", pd->m_Color[0]);
-    ar & boost::serialization::make_hrp("ColorG", pd->m_Color[1]);
-    ar & boost::serialization::make_hrp("ColorB", pd->m_Color[2]);
-    ar & boost::serialization::make_hrp("Opacity", pd->m_Opacity);
-    ar & boost::serialization::make_hrp_enum("Representation", pd->m_Representation, {"Points", "Wireframe", "Surface", "SurfaceWithEdges", "Volume", "Outline", "Slice"});
-    ar & boost::serialization::make_hrp("Visibility", pd->m_Visibility);
-    ar & boost::serialization::make_hrp("Pickable", pd->m_Selectable);
-    ar & boost::serialization::make_hrp("Dragable", pd->m_Dragable);
+    AppearanceProxy appearance{pd};
+    ar & boost::serialization::make_nvp("Appearance", appearance);
     
-    // Geometry knobs (caution: these might be overridden by internal matrices)
-    ar & boost::serialization::make_hrp("PosX", pd->m_Position[0], "mm");
-    ar & boost::serialization::make_hrp("PosY", pd->m_Position[1], "mm");
-    ar & boost::serialization::make_hrp("PosZ", pd->m_Position[2], "mm");
-    ar & boost::serialization::make_hrp("OriX", pd->m_Orientation[0], "deg");
-    ar & boost::serialization::make_hrp("OriY", pd->m_Orientation[1], "deg");
-    ar & boost::serialization::make_hrp("OriZ", pd->m_Orientation[2], "deg");
-    ar & boost::serialization::make_hrp("ScaleX", pd->m_Scale[0]);
-    ar & boost::serialization::make_hrp("ScaleY", pd->m_Scale[1]);
-    ar & boost::serialization::make_hrp("ScaleZ", pd->m_Scale[2]);
+    TransformProxy transform{pd};
+    ar & boost::serialization::make_nvp("Transform", transform);
 }
 
 void Puppet::serialize(Archive::xml_oarchive & ar, const unsigned int v) { }

src/Vtk/uLibVtkInterface.h

@@ -29,6 +29,9 @@
 #include <iomanip>
 #include <ostream>
 #include <vector>
+#include <boost/type_traits/is_class.hpp>
+#include <boost/mpl/bool.hpp>
+#include <boost/serialization/serialization.hpp>
 #include "Core/Object.h"
 #include "Core/Property.h"
 #include "Core/Monitor.h"
@@ -157,10 +160,19 @@ public:
         boost::archive::detail::common_oarchive<display_properties_archive>(boost::archive::no_header),
         m_Puppet(puppet) {}
     
+    std::string GetCurrentGroup() const {
+        std::string group;
+        for (const auto& g : m_GroupStack) {
+            if (!group.empty()) group += ".";
+            group += g;
+        }
+        return group;
+    }
+
     template<class T>
     void save_override(const boost::serialization::hrp<T> &t) {
         if (m_Puppet) {
-            uLib::Property<T>* p = new uLib::Property<T>(m_Puppet, t.name(), &const_cast<boost::serialization::hrp<T>&>(t).value(), t.units() ? t.units() : "");
+            uLib::Property<T>* p = new uLib::Property<T>(m_Puppet, t.name(), &const_cast<boost::serialization::hrp<T>&>(t).value(), t.units() ? t.units() : "", GetCurrentGroup());
             m_Puppet->RegisterDisplayProperty(p);
             Vtk::Puppet* puppet = m_Puppet;
             uLib::Object::connect(p, &uLib::PropertyBase::Updated, [puppet](){ puppet->Update(); });
@@ -170,7 +182,7 @@ public:
     template<class T>
     void save_override(const boost::serialization::hrp_enum<T> &t) {
         if (m_Puppet) {
-            uLib::EnumProperty* p = new uLib::EnumProperty(m_Puppet, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "");
+            uLib::EnumProperty* p = new uLib::EnumProperty(m_Puppet, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "", GetCurrentGroup());
             m_Puppet->RegisterDisplayProperty(p);
             Vtk::Puppet* puppet = m_Puppet;
             uLib::Object::connect(p, &uLib::PropertyBase::Updated, [puppet](){ puppet->Update(); });
@@ -178,10 +190,23 @@ public:
     }
 
     template<class T> void save_override(const boost::serialization::nvp<T> &t) {
-        boost::archive::detail::common_oarchive<display_properties_archive>::save_override(t.const_value());
+        if (t.name()) m_GroupStack.push_back(t.name());
+        this->save_helper(t.const_value(), typename boost::is_class<T>::type());
+        if (t.name()) m_GroupStack.pop_back();
     }
 
-    template<class T> void save_override(const T &t) {}
+    // Recursion for nested classes, ignore primitives
+    template<class T> void save_override(const T &t) {
+        this->save_helper(t, typename boost::is_class<T>::type());
+    }
+
+    template<class T>
+    void save_helper(const T &t, boost::mpl::true_) {
+        boost::serialization::serialize_adl(*this, const_cast<T&>(t), 0);
+    }
+
+    template<class T>
+    void save_helper(const T &t, boost::mpl::false_) {}
 
     void save_override(const boost::archive::object_id_type & t) {}
     void save_override(const boost::archive::object_reference_type & t) {}
@@ -194,6 +219,7 @@ public:
 
 private:
     Vtk::Puppet* m_Puppet;
+    std::vector<std::string> m_GroupStack;
 };
 
 } // namespace Archive