Merge branch 'fix/aron-conversions' into 'master'

Fix/aron conversions

See merge request !84

armarx_core/time/date_time.py

@@ -3,7 +3,7 @@ import time
 import numpy as np
 import dataclasses
 
-from enum import Enum, auto
+from enum import IntEnum
 
 import armarx_core
 from armarx_core.ice_conversion.ice_converter import IceConverter
@@ -14,14 +14,16 @@ slice_loader.load_armarx_slice("ArmarXCore", "core/time.ice")
 from armarx.core.time.dto import DateTime as DateTimeIce
 from armarx.core.time.dto.ClockType import ClockTypeEnum
 
+from armarx_core.time.duration import Duration, MIN_LONG_CPP
 
-MIN_LONG_CPP = -9223372036854775808
 INVALID_TIME_USEC = MIN_LONG_CPP
 
+
 # auxiliary function
 def time_usec() -> int:
     return int(time.time() * 1e6)
 
+
 # Converter between dto and a plain int value
 class DateTimeIceConverter(IceConverter):
     @classmethod
@@ -41,19 +43,11 @@ class DateTimeIceConverter(IceConverter):
 
 # DateTime type corresponding to C++ type (preferred)
 @dataclasses.dataclass
-class ClockType(Enum):
-    Realtime = auto()
-    Monotonic = auto()
-    Virtual = auto()
-    Unknown = auto()
-
-    def to_aron(self):
-        return pythonic_to_aron_ice(self.value)
-
-
-@dataclasses.dataclass
-class Duration(AronDataclass):
-    microSeconds: np.int64 = MIN_LONG_CPP
+class ClockType(IntEnum):
+    Realtime = 0
+    Monotonic = 1
+    Virtual = 2
+    Unknown = 3
 
 
 @dataclasses.dataclass
@@ -70,7 +64,7 @@ class DateTime(AronDataclass):
     @staticmethod
     def from_seconds(time_in_sec: float):
         dto = DateTime()
-        dto.timeSinceEpoch.microSeconds = int(round(time_in_sec * 1e6))
+        dto.timeSinceEpoch.microSeconds = np.int64(round(time_in_sec * 1e6))
         return dto
 
 

armarx_core/time/duration.py

+import dataclasses
+import numpy as np
+
 import armarx_core
 from armarx_core.ice_conversion.ice_converter import IceConverter
 from armarx_core import slice_loader
-
-from armarx_core.time.date_time import MIN_LONG_CPP
+from armarx_memory.aron.aron_dataclass import AronDataclass
 
 slice_loader.load_armarx_slice("ArmarXCore", "core/time.ice")
 from armarx.core.time import dto
 
+MIN_LONG_CPP = -9223372036854775808
+
+@dataclasses.dataclass
+class Duration(AronDataclass):
+    microSeconds: np.int64 = MIN_LONG_CPP,   # std::numeric_limits<long>::min()
 
-class Duration:
-    def __init__(
-            self,
-            microseconds = MIN_LONG_CPP,   # std::numeric_limits<long>::min()
-    ):
-        self.microseconds = microseconds
+    @staticmethod
+    def from_seconds(seconds: float) -> "Duration":
+        return Duration(np.int64(round(seconds * 1e6)))
+
+    def as_seconds(self) -> float:
+        print(self.microSeconds)
+        return self.microSeconds * 1e-6
 
     def __repr__(self) -> str:
-        return f"<Duration {self.microseconds} µs>"
+        return f"<Duration {self.microSeconds} µs>"
 
     def __str__(self) -> str:
         unit = "µs"
-        time_count = self.microseconds
+        time_count = self.microSeconds
 
         unit_ratios = [
             ("ms", 1000),
@@ -46,12 +54,12 @@ class DurationIceConv(IceConverter):
 
     def _from_ice(self, dto: dto.Duration) -> Duration:
         return Duration(
-            microseconds=dto.microSeconds,
+            microSeconds=dto.microSeconds,
         )
 
     def _to_ice(self, bo: Duration) -> dto.Duration:
         return dto.Duration(
-            microSeconds=bo.microseconds,
+            microSeconds=bo.microSeconds,
         )
 
 
@@ -64,3 +72,9 @@ if __name__ == '__main__':
     dt2 = conv.to_ice(bo)
     print(dt2)
     assert dt2 == dt
+
+    # without converter, using standard aron conversions:
+    dto = Duration.from_seconds(1.2)
+    ice = dto.to_aron_ice()
+    dto2 = Duration.from_aron_ice(ice)
+    assert dto.as_seconds() == 1.2

armarx_memory/aron/common/framed/__init__.py

+from __future__ import annotations
+
 import dataclasses as dc
 import numpy as np
 
@@ -42,3 +44,14 @@ class FramedPose(AronDataclass):
     """
     header: FrameID = dc.field(default_factory=FrameID)
     pose: np.ndarray = dc.field(default_factory=lambda: np.eye(4, dtype=np.float32))
+
+    @classmethod
+    def with_type_check(cls, header: FrameID, pose: np.ndarray) -> FramedPose:
+        """
+        Ensures that the data type of the pose array is correct; otherwise, there might be problems when reading
+        the memory from C++
+        """
+        assert isinstance(header, FrameID)
+        assert isinstance(pose, np.ndarray)
+        assert pose.shape == (4, 4)
+        return cls(header, pose.astype(np.float32))

armarx_memory/aron/conversion/dataclass_from_to_pythonic.py

@@ -296,7 +296,7 @@ class DataclassFromToDict:
                 union_types = type_.__args__
                 assert type(None) in union_types, (type_, origin, union_types)
             else:
-                assert type_ == type(None), (type_, origin)  # Note, If this fails, comment out
+                assert type_ == type(None), (type_, origin)  # Note, If this fails, comment out; beforehand, make sure you have properly annotated optionals as Union[TheType, None]
 
             return None
 
@@ -308,6 +308,9 @@ class DataclassFromToDict:
         elif isinstance(value, dict):
             return {k: self.dataclass_to_dict(v, depth=depth + 1) for k, v in value.items()}
 
+        elif isinstance(value, enum.IntEnum) or isinstance(value, enum.Enum):
+            return value.value
+
         else:
             if self.logger is not None:
                 self.logger.debug(f"{pre}> Process other type: {type_}")

armarx_memory/aron/conversion/pythonic_from_to_aron_ice.py

@@ -29,6 +29,10 @@ def pythonic_to_aron_ice(
     elif isinstance(value, np.int64):
         return AronIceTypes.long(int(value))
     elif isinstance(value, int) or isinstance(value, np.int32):
+        assert(isinstance(value, int)), value
+        assert 'invalid value - expected int' not in str(AronIceTypes.int(int(value))), \
+            f'Casting {value} to int failed. Did you intend to use np.int64 instead, ' \
+            'but assigned a plain int value, or converted the value somewhere in the meantime?'
         return AronIceTypes.int(int(value))
     elif isinstance(value, np.float64):
         return AronIceTypes.double(float(value))
@@ -37,7 +41,15 @@ def pythonic_to_aron_ice(
     elif isinstance(value, list):
         return AronIceTypes.list(list(map(pythonic_to_aron_ice, value)))
     elif isinstance(value, enum.IntEnum):
+        assert(isinstance(value.value, int)), f'Value of IntEnum is not an int: {value.value}'
         return pythonic_to_aron_ice(value.value)  # int
+    elif isinstance(value, enum.Enum):
+        if not isinstance(value.value, int):
+            raise NotImplementedError(
+                f'enum.Enum is only supported as long as it uses int values, but got value {value.value}. '
+                'Consider directly using enum.IntEnum.'
+            )
+        return pythonic_to_aron_ice(value.value)
 
     elif isinstance(value, dict):
         a = AronIceTypes.dict({k: pythonic_to_aron_ice(v) for k, v in value.items()})