diff --git a/armarx_core/time/date_time.py b/armarx_core/time/date_time.py
index c4432d39dadbad6f528b103dd8411d3533cac354..aa8826792a8079307a578c243111ef1358a496d8 100644
--- a/armarx_core/time/date_time.py
+++ b/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
diff --git a/armarx_core/time/duration.py b/armarx_core/time/duration.py
index 92012f38619982d7a5deb6695ea88b324c9bd201..0b3a5f7687d1873f9fbdce12b940410164fbab3f 100644
--- a/armarx_core/time/duration.py
+++ b/armarx_core/time/duration.py
@@ -1,26 +1,34 @@
+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
diff --git a/armarx_memory/aron/common/framed/__init__.py b/armarx_memory/aron/common/framed/__init__.py
index e28abd91be74c1f21e5f7ba591ba204783bf93b7..93d1c55da130912f31c0d0d80732914c32ed4006 100644
--- a/armarx_memory/aron/common/framed/__init__.py
+++ b/armarx_memory/aron/common/framed/__init__.py
@@ -1,3 +1,5 @@
+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))
diff --git a/armarx_memory/aron/conversion/dataclass_from_to_pythonic.py b/armarx_memory/aron/conversion/dataclass_from_to_pythonic.py
index 8ee03bdf900b50e7c86aed4ca0c18faf16a48bcf..28e0e3d5a549b221d0923baa6f43789d4ad2c3be 100644
--- a/armarx_memory/aron/conversion/dataclass_from_to_pythonic.py
+++ b/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_}")
diff --git a/armarx_memory/aron/conversion/pythonic_from_to_aron_ice.py b/armarx_memory/aron/conversion/pythonic_from_to_aron_ice.py
index e1891bd004fa5b8676ec6ef838584e20f2f68110..6bdfe76e7dc96612f94522c5e697845f963cf521 100644
--- a/armarx_memory/aron/conversion/pythonic_from_to_aron_ice.py
+++ b/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()})