From 01407bbbf341a91b5346725921bad45c6c43a6a4 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Fri, 1 Jul 2022 09:52:26 +0200
Subject: [PATCH] renamed enums of aron. Splitted aron in codegeneration and
core. Updates to skills framework. Fixed aron dto types and removed useless
ice type.
---
.../AronCodeGenerator/CMakeLists.txt | 2 +-
.../applications/AronCodeGenerator/main.cpp | 4 +-
.../SkillProviderExample.cpp | 9 +-
.../SkillProviderExample.h | 8 +-
.../SkillManagerMonitorWidgetController.cpp | 36 +-
.../SkillManagerMonitorWidgetController.h | 11 +-
.../visitors/AronTreeWidgetConverter.cpp | 7 -
.../visitors/AronTreeWidgetConverter.h | 1 -
.../visitors/AronTreeWidgetCreator.cpp | 3 -
.../visitors/AronTreeWidgetCreator.h | 1 -
.../visitors/AronTreeWidgetModalCreator.cpp | 6 -
.../visitors/AronTreeWidgetModalCreator.h | 1 -
source/RobotAPI/interface/aron/Aron.ice | 70 +-
.../skills/SkillManagerInterface.ice | 9 +-
.../ltm/base/converter/image/Converter.h | 2 +-
.../ltm/base/converter/object/Converter.h | 2 +-
.../imageExtractor/DepthImageExtractor.cpp | 2 +-
.../imageExtractor/DepthImageExtractor.h | 2 +-
.../imageExtractor/ImageExtractor.cpp | 2 +-
.../extractor/imageExtractor/ImageExtractor.h | 2 +-
source/RobotAPI/libraries/armem/util/util.h | 4 +-
.../armem_gui/instance/InstanceView.cpp | 8 +-
.../TypedDataDisplayVisitor.cpp | 4 +-
.../TypedDataDisplayVisitor.h | 1 -
.../tree_builders/TypedDataTreeBuilder.cpp | 2 +-
.../tree_visitors/TreeTypedDataVisitor.cpp | 4 +-
.../tree_visitors/TreeTypedDataVisitor.h | 6 +-
.../tree_visitors/TreeTypedJSONConverter.cpp | 8 +-
.../tree_visitors/TreeTypedJSONConverter.h | 1 -
.../libraries/armem_gui/test/ArMemGuiTest.cpp | 2 +-
.../server/instance/SegmentAdapter.cpp | 2 +-
.../armem_robot/aron_conversions.cpp | 4 -
source/RobotAPI/libraries/aron/CMakeLists.txt | 2 +-
.../aron/codegeneration/CMakeLists.txt | 124 +++
.../codegenerator/codewriter/CodeWriter.h | 8 +-
.../codegenerator/codewriter/Factory.h | 0
.../codewriter/cpp/AronGeneratedClass.h | 0
.../codegenerator/codewriter/cpp/Writer.cpp | 6 +-
.../codegenerator/codewriter/cpp/Writer.h | 6 +-
.../codewriter/cpp/generator/All.h | 1 -
.../codewriter/cpp/generator/Factory.cpp | 64 ++
.../codewriter/cpp/generator/Factory.h | 2 +-
.../codewriter/cpp/generator/Generator.cpp | 76 +-
.../codewriter/cpp/generator/Generator.h | 46 +-
.../codewriter/cpp/generator/any/All.h | 0
.../cpp/generator/any/AnyObject.cpp | 33 +-
.../codewriter/cpp/generator/any/AnyObject.h | 10 +-
.../codewriter/cpp/generator/container/All.h | 0
.../cpp/generator/container/Dict.cpp | 0
.../codewriter/cpp/generator/container/Dict.h | 12 +-
.../cpp/generator/container/List.cpp | 0
.../codewriter/cpp/generator/container/List.h | 12 +-
.../cpp/generator/container/Object.cpp | 204 +++++
.../cpp/generator/container/Object.h | 17 +-
.../cpp/generator/container/Pair.cpp | 0
.../codewriter/cpp/generator/container/Pair.h | 12 +-
.../cpp/generator/container/Tuple.cpp | 0
.../cpp/generator/container/Tuple.h | 12 +-
.../cpp/generator/detail/AnyGenerator.cpp | 0
.../cpp/generator/detail/AnyGenerator.h} | 4 +-
.../generator/detail/ContainerGenerator.cpp | 0
.../cpp/generator/detail/ContainerGenerator.h | 0
.../cpp/generator/detail/NDArrayGenerator.cpp | 0
.../cpp/generator/detail/NDArrayGenerator.h | 0
.../generator/detail/PrimitiveGenerator.cpp | 0
.../cpp/generator/detail/PrimitiveGenerator.h | 0
.../generator/detail/SpecializedGenerator.cpp | 0
.../generator/detail/SpecializedGenerator.h | 2 +-
.../codewriter/cpp/generator/enum/All.h | 0
.../codewriter/cpp/generator/enum/IntEnum.cpp | 2 +-
.../codewriter/cpp/generator/enum/IntEnum.h | 12 +-
.../codewriter/cpp/generator/ndarray/All.h | 0
.../cpp/generator/ndarray/Image.cpp | 12 +-
.../codewriter/cpp/generator/ndarray/Image.h | 20 +-
.../cpp/generator/ndarray/Matrix.cpp | 23 +-
.../codewriter/cpp/generator/ndarray/Matrix.h | 17 +-
.../cpp/generator/ndarray/NDArray.cpp | 0
.../cpp/generator/ndarray/NDArray.h | 10 +-
.../cpp/generator/ndarray/PointCloud.cpp | 27 +-
.../cpp/generator/ndarray/PointCloud.h | 17 +-
.../cpp/generator/ndarray/Quaternion.cpp | 17 +-
.../cpp/generator/ndarray/Quaternion.h | 17 +-
.../codewriter/cpp/generator/primitive/All.h | 0
.../cpp/generator/primitive/Bool.cpp | 0
.../codewriter/cpp/generator/primitive/Bool.h | 2 +-
.../cpp/generator/primitive/Double.cpp | 0
.../cpp/generator/primitive/Double.h | 4 +-
.../cpp/generator/primitive/Float.cpp | 0
.../cpp/generator/primitive/Float.h | 4 +-
.../cpp/generator/primitive/Int.cpp | 0
.../codewriter/cpp/generator/primitive/Int.h | 4 +-
.../cpp/generator/primitive/Long.cpp | 0
.../codewriter/cpp/generator/primitive/Long.h | 4 +-
.../cpp/generator/primitive/String.cpp | 0
.../cpp/generator/primitive/String.h | 4 +-
.../codewriter/cpp/generator/toplevel/All.h | 0
.../cpp/generator/toplevel/IntEnumClass.cpp | 2 +-
.../cpp/generator/toplevel/IntEnumClass.h | 16 +-
.../cpp/generator/toplevel/ObjectClass.cpp | 4 +-
.../cpp/generator/toplevel/ObjectClass.h | 18 +-
.../codegenerator/helper/ReaderInfo.h | 0
.../codegenerator/helper/WriterInfo.h | 0
.../aron/codegeneration/test/CMakeLists.txt | 147 ++++
.../test/aron/AnyTest.xml | 0
.../test/aron/BaseClassTest.xml | 0
.../test/aron/DerivedClassTest.xml | 2 +-
.../test/aron/DictTest.xml | 0
.../aron/codegeneration/test/aron/DtoTest.xml | 16 +
.../test/aron/EnumTest.xml | 0
.../test/aron/HumanPoseTest.xml | 0
.../test/aron/IKResult.xml | 0
.../test/aron/ImageTest.xml | 0
.../test/aron/ListTest.xml | 0
.../test/aron/MatrixTest.xml | 0
.../test/aron/NaturalIKTest.xml | 0
.../test/aron/ObjectTest.xml | 0
.../test/aron/OptionalTest.xml | 0
.../test/aron/OrientationTest.xml | 0
.../test/aron/PointCloudTest.xml | 0
.../test/aron/PoseTest.xml | 0
.../test/aron/PositionTest.xml | 0
.../test/aron/PrimitiveTest.xml | 3 -
.../test/aron/QuaternionTest.xml | 0
.../test/aron/TemplateTest.xml | 0
.../test/aronCodeGenerationTest.cpp | 37 +-
.../test/aronExtendsTest.cpp | 4 +-
.../test/aronNavigateTest.cpp | 5 +-
.../test/aronOperatorTest.cpp | 0
.../test/aronRandomizedTest.cpp | 0
.../typereader/Reader.h | 8 +-
.../typereader/helper/GenerateInfo.h | 0
.../typereader/helper/GenerateIntEnumInfo.h | 0
.../typereader/helper/GenerateTypeInfo.h | 0
.../typereader/xml/Data.cpp | 2 +-
.../typereader/xml/Data.h | 14 +-
.../typereader/xml/Factory.cpp | 157 ++--
.../typereader/xml/Factory.h | 5 +-
.../typereader/xml/Reader.cpp | 8 +-
.../typereader/xml/Reader.h | 4 +-
.../AronCodeGenerator.cpp | 39 -
.../codegenerationhelper/AronCodeGenerator.h | 50 --
.../aron/codegenerationhelper/CMakeLists.txt | 20 -
.../libraries/aron/common/CMakeLists.txt | 4 +-
.../libraries/aron/common/aron_conversions.h | 3 -
.../aron/common/aron_conversions/core.cpp | 1 -
.../aron/common/aron_conversions/core.h | 79 +-
.../aron/common/aron_conversions/eigen.h | 2 +
.../aron/common/aron_conversions/framed.h | 2 +
.../common/aron_conversions/packagepath.h | 2 +
.../aron/common/aron_conversions/simox.h | 2 +
.../aron/common/aron_conversions/stl.cpp | 2 +-
.../aron/common/aron_conversions/stl.h | 195 +----
.../aron/common/aron_conversions/time.cpp | 19 +-
.../aron/common/aron_conversions/time.h | 11 +-
.../aron/common/test/MyCustomType.cpp | 2 +-
.../aron/common/test/aron_common_test.cpp | 3 +-
.../aron/common/util/object_finders.h | 2 +-
.../libraries/aron/core/CMakeLists.txt | 98 +--
.../RobotAPI/libraries/aron/core/Descriptor.h | 354 ++++----
source/RobotAPI/libraries/aron/core/Path.cpp | 1 -
.../libraries/aron/core/aron_conversions.cpp | 6 +
.../libraries/aron/core/aron_conversions.h | 391 +++++++++
.../codewriter/cpp/generator/Factory.cpp | 65 --
.../cpp/generator/container/Object.cpp | 104 ---
.../cpp/generator/detail/AnyGenerator.h | 66 --
.../cpp/generator/detail/DtoGenerator.cpp | 25 -
.../codewriter/cpp/generator/dto/All.h | 8 -
.../codewriter/cpp/generator/dto/DateTime.cpp | 88 --
.../codewriter/cpp/generator/dto/DateTime.h | 46 --
.../libraries/aron/core/data/rw/json/Data.h | 76 +-
.../aron/core/data/variant/Factory.cpp | 20 +-
.../core/data/variant/complex/NDArray.cpp | 14 +-
.../aron/core/data/variant/container/Dict.cpp | 8 +-
.../aron/core/data/variant/container/Dict.h | 2 +-
.../aron/core/data/variant/container/List.cpp | 10 +-
.../data/variant/detail/SpecializedVariant.h | 4 +-
.../aron/core/data/variant/primitive/Bool.cpp | 8 +-
.../core/data/variant/primitive/Double.cpp | 8 +-
.../core/data/variant/primitive/Float.cpp | 8 +-
.../aron/core/data/variant/primitive/Int.cpp | 8 +-
.../aron/core/data/variant/primitive/Long.cpp | 8 +-
.../core/data/variant/primitive/String.cpp | 8 +-
.../aron/core/data/visitor/RecursiveVisitor.h | 61 +-
.../aron/core/data/visitor/Visitor.h | 61 +-
.../nlohmannJSON/NlohmannJSONVisitor.cpp | 2 +-
.../data/visitor/variant/VariantVisitor.cpp | 20 +-
.../data/visitor/variant/VariantVisitor.h | 4 -
.../aron/core/legacy/DataVisitor.cpp | 127 ---
.../libraries/aron/core/legacy/DataVisitor.h | 265 ------
.../libraries/aron/core/legacy/Randomizer.h | 631 --------------
.../aron/core/legacy/TypedDataVisitor.cpp | 258 ------
.../aron/core/legacy/TypedDataVisitor.h | 379 ---------
.../libraries/aron/core/test/CMakeLists.txt | 146 ----
.../libraries/aron/core/test/Randomizer.cpp | 24 -
.../libraries/aron/core/test/Randomizer.h | 771 ------------------
.../aron/core/type/converter/Converter.h | 8 -
.../libraries/aron/core/type/rw/Reader.h | 11 +-
.../libraries/aron/core/type/rw/Writer.h | 3 -
.../libraries/aron/core/type/rw/json/Data.h | 95 ++-
.../nlohmannJSON/NlohmannJSONReader.cpp | 7 -
.../reader/nlohmannJSON/NlohmannJSONReader.h | 35 +-
.../type/rw/reader/variant/VariantReader.cpp | 9 -
.../type/rw/reader/variant/VariantReader.h | 37 +-
.../nlohmannJSON/NlohmannJSONWriter.cpp | 7 -
.../writer/nlohmannJSON/NlohmannJSONWriter.h | 1 -
.../type/rw/writer/variant/VariantWriter.cpp | 7 -
.../type/rw/writer/variant/VariantWriter.h | 1 -
.../libraries/aron/core/type/variant/All.h | 1 -
.../aron/core/type/variant/Factory.cpp | 39 +-
.../aron/core/type/variant/any/AnyObject.cpp | 4 +-
.../aron/core/type/variant/container/Dict.cpp | 4 +-
.../aron/core/type/variant/container/List.cpp | 4 +-
.../core/type/variant/container/Object.cpp | 4 +-
.../aron/core/type/variant/container/Pair.cpp | 4 +-
.../core/type/variant/container/Tuple.cpp | 4 +-
.../aron/core/type/variant/dto/All.h | 11 -
.../aron/core/type/variant/dto/DateTime.cpp | 61 --
.../aron/core/type/variant/dto/DateTime.h | 51 --
.../aron/core/type/variant/enum/IntEnum.cpp | 4 +-
.../core/type/variant/forward_declarations.h | 1 -
.../aron/core/type/variant/ndarray/Image.cpp | 8 +-
.../aron/core/type/variant/ndarray/Matrix.cpp | 14 +-
.../core/type/variant/ndarray/NDArray.cpp | 4 +-
.../core/type/variant/ndarray/PointCloud.cpp | 18 +-
.../core/type/variant/ndarray/Quaternion.cpp | 8 +-
.../aron/core/type/variant/primitive/Bool.cpp | 4 +-
.../core/type/variant/primitive/Double.cpp | 4 +-
.../core/type/variant/primitive/Float.cpp | 4 +-
.../aron/core/type/variant/primitive/Int.cpp | 4 +-
.../aron/core/type/variant/primitive/Long.cpp | 4 +-
.../core/type/variant/primitive/String.cpp | 4 +-
.../aron/core/type/visitor/RecursiveVisitor.h | 41 +-
.../aron/core/type/visitor/Visitor.h | 41 +-
.../type/visitor/variant/VariantVisitor.cpp | 9 +-
.../type/visitor/variant/VariantVisitor.h | 2 -
.../manager/SkillManagerComponentPlugin.cpp | 22 +
.../manager/SkillManagerComponentPlugin.h | 3 +
.../skills/provider/PeriodicSkill.cpp | 2 +-
.../libraries/skills/provider/PeriodicSkill.h | 2 +-
.../provider/PeriodicSpecializedSkill.h | 2 +-
.../libraries/skills/provider/Skill.cpp | 49 +-
.../libraries/skills/provider/Skill.h | 14 +-
.../skills/provider/SpecializedSkill.h | 12 +-
.../detail/SkillImplementationWrapper.cpp | 2 +-
.../helper/LambdaSkillImplementation.cpp | 2 +-
.../helper/LambdaSkillImplementation.h | 2 +-
246 files changed, 2034 insertions(+), 4808 deletions(-)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/CodeWriter.h (87%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/Factory.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/AronGeneratedClass.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/Writer.cpp (98%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/Writer.h (87%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/All.h (89%)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/Factory.h (93%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/Generator.cpp (87%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/Generator.h (70%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/any/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp (56%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/any/AnyObject.h (76%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Dict.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Dict.h (82%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/List.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/List.h (82%)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Object.h (73%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Pair.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Pair.h (82%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Tuple.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/container/Tuple.h (82%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp (100%)
rename source/RobotAPI/libraries/aron/{core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h => codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h} (94%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h (94%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/enum/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp (98%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/enum/IntEnum.h (85%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp (91%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Image.h (75%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp (79%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h (77%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h (85%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp (77%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h (77%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp (84%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h (77%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Bool.h (97%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Double.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Double.h (90%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Float.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Float.h (90%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Int.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Int.h (90%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Long.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/Long.h (90%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/String.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/primitive/String.h (90%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/toplevel/All.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp (99%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h (88%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp (98%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h (82%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/helper/ReaderInfo.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/codegenerator/helper/WriterInfo.h (100%)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/AnyTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/BaseClassTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/DerivedClassTest.xml (82%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/DictTest.xml (100%)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/EnumTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/HumanPoseTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/IKResult.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/ImageTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/ListTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/MatrixTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/NaturalIKTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/ObjectTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/OptionalTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/OrientationTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/PointCloudTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/PoseTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/PositionTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/PrimitiveTest.xml (89%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/QuaternionTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aron/TemplateTest.xml (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aronCodeGenerationTest.cpp (88%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aronExtendsTest.cpp (93%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aronNavigateTest.cpp (95%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aronOperatorTest.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/test/aronRandomizedTest.cpp (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/Reader.h (89%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/helper/GenerateInfo.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/helper/GenerateIntEnumInfo.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/helper/GenerateTypeInfo.h (100%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Data.cpp (98%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Data.h (92%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Factory.cpp (76%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Factory.h (94%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Reader.cpp (97%)
rename source/RobotAPI/libraries/aron/{core => codegeneration}/typereader/xml/Reader.h (94%)
delete mode 100644 source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp
delete mode 100644 source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h
delete mode 100644 source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/aron/core/aron_conversions.cpp
create mode 100644 source/RobotAPI/libraries/aron/core/aron_conversions.h
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/All.h
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.h
delete mode 100644 source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h
delete mode 100644 source/RobotAPI/libraries/aron/core/legacy/Randomizer.h
delete mode 100644 source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h
delete mode 100644 source/RobotAPI/libraries/aron/core/test/Randomizer.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/test/Randomizer.h
delete mode 100644 source/RobotAPI/libraries/aron/core/type/variant/dto/All.h
delete mode 100644 source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.cpp
delete mode 100644 source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.h
diff --git a/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt b/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
index bc1a0f51a..c25c4215e 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
+++ b/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
@@ -1,5 +1,5 @@
armarx_component_set_name("AronCodeGeneratorApp")
-set(COMPONENT_LIBS ArmarXCore aron)
+set(COMPONENT_LIBS ArmarXCore aroncodegenerator)
set(SOURCES
main.cpp
diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index 5da09c7a9..a71ec2996 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -39,8 +39,8 @@
#include <ArmarXCore/libraries/cppgen/CppMethod.h>
#include <ArmarXCore/libraries/cppgen/CppClass.h>
-#include <RobotAPI/libraries/aron/core/typereader/xml/Reader.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index cbfbc89cc..dc471cdf1 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -19,8 +19,9 @@ namespace armarx::skills::provider
armarx::skills::Example::HelloWorldAcceptedType::ToAronType()
})
{}
- Skill::Status HelloWorldSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status HelloWorldSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
+
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
"I received the following data: \n" <<
aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
@@ -37,7 +38,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status ChainingSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status ChainingSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
armarx::skills::Example::HelloWorldAcceptedType exec1;
armarx::skills::Example::HelloWorldAcceptedType exec2;
@@ -72,7 +73,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status TimeoutSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status TimeoutSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
int i = 0;
while (!timeoutReached)
@@ -99,7 +100,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status CallbackSkill::execute(const aron::data::DictPtr& d, const CallbackT& callback)
+ Skill::Status CallbackSkill::main(const aron::data::DictPtr& d, const CallbackT& callback)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 57853d642..8ed9ffc9e 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -36,14 +36,14 @@ namespace armarx::skills::provider
{
public:
HelloWorldSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
class ChainingSkill : public Skill
{
public:
ChainingSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
@@ -51,7 +51,7 @@ namespace armarx::skills::provider
{
public:
TimeoutSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
@@ -59,7 +59,7 @@ namespace armarx::skills::provider
{
public:
CallbackSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
/**
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index c29af8fca..6ad23607b 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -159,7 +159,7 @@ namespace armarx
return;
// remove non-existing ones
- auto managerSkills = manager->getSkillProviders();
+ auto managerSkills = manager->getSkillDescriptions();
std::vector<std::string> removedProviders;
for (auto it = skills.begin(); it != skills.end();)
{
@@ -178,16 +178,11 @@ namespace armarx
// add new ones
std::vector<std::string> newProviders;
- for (const auto& [providerName, provider] : managerSkills)
+ for (const auto& [providerName, providerSkills] : managerSkills)
{
if (skills.find(providerName) == skills.end())
{
- SkillProviderData providerData;
- providerData.providerName = providerName;
- providerData.skillDescriptions = provider->getSkills();
- providerData.skillProviderPrx = provider;
- skills.insert(std::make_pair(providerName, providerData));
-
+ skills.insert(std::make_pair(providerName, providerSkills));
newProviders.push_back(providerName);
}
}
@@ -208,13 +203,13 @@ namespace armarx
}
// add new providers
- for (const auto& [providerName, provider] : skills)
+ for (const auto& [providerName, providerSkills] : skills)
{
if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName); it != newProviders.end())
{
auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
item->setText(0, QString::fromStdString(providerName));
- for (const auto& [name, sk] : provider.skillDescriptions)
+ for (const auto& [name, sk] : providerSkills)
{
auto itsk = new QTreeWidgetItem(item);
item->addChild(itsk);
@@ -224,21 +219,24 @@ namespace armarx
}
// update status
+ auto managerStatuses = manager->getSkillExecutionStatuses();
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
try
{
QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
auto providerName = item->text(0).toStdString();
+
+ auto allStatusesForProvider = managerStatuses.at(providerName);
+
for (int j = 0; j < item->childCount(); ++j)
{
QTreeWidgetItem* skillItem = item->child(j);
auto skillName = skillItem->text(0).toStdString();
- auto& providerPrx = skills.at(providerName).skillProviderPrx;
- auto statusUpdate = providerPrx->getSkillExecutionStatus(skillName);
+ auto statusForSkill = allStatusesForProvider.at(skillName);
- skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.header.status)));
+ skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusForSkill.header.status)));
}
}
catch (const std::exception& e)
@@ -257,8 +255,8 @@ namespace armarx
return;
}
- const auto& prv = skills.at(selectedSkill.providerName);
- if (!prv.skillDescriptions.count(selectedSkill.skillName))
+ const auto& skillDescriptions = skills.at(selectedSkill.providerName);
+ if (!skillDescriptions.count(selectedSkill.skillName))
{
return;
}
@@ -273,7 +271,7 @@ namespace armarx
ARMARX_INFO << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName;
// Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
//executions.emplace_back([&](){ manager->executeSkill(exInfo); });
- manager->executeSkill(exInfo);
+ manager->begin_executeSkill(exInfo);
}
void SkillManagerMonitorWidgetController::stopSkill()
@@ -283,8 +281,8 @@ namespace armarx
return;
}
- const auto& prv = skills.at(selectedSkill.providerName);
- if (!prv.skillDescriptions.count(selectedSkill.skillName))
+ const auto& skillDescriptions = skills.at(selectedSkill.providerName);
+ if (!skillDescriptions.count(selectedSkill.skillName))
{
return;
}
@@ -330,7 +328,7 @@ namespace armarx
aronTreeWidgetController = nullptr;
skillsArgumentsTreeWidgetItem = nullptr;
- auto skillDesc = skills.at(selectedSkill.providerName).skillDescriptions.at(selectedSkill.skillName);
+ auto skillDesc = skills.at(selectedSkill.providerName).at(selectedSkill.skillName);
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index debeaedff..00e15a756 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -108,15 +108,8 @@ namespace armarx
std::string skillName;
};
- struct SkillProviderData
- {
- std::string providerName;
- skills::provider::dto::SkillDescriptionMap skillDescriptions;
- skills::provider::dti::SkillProviderInterfacePrx skillProviderPrx;
- };
-
- // Data taken from observer
- std::map<std::string, SkillProviderData> skills = {};
+ // Data taken from observer (snapshot of it)
+ skills::manager::dto::SkillDescriptionMapMap skills = {};
// User Input
SelectedSkill selectedSkill;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index 149fa1988..04fab49b6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -217,13 +217,6 @@ namespace armarx
createdAronString->fromString(str);
}
- void
- AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DateTimePtr& i)
- {
- auto l = std::make_shared<aron::type::Long>();
- visitLong(l);
- }
-
void AronTreeWidgetConverterVisitor::visitUnknown(Input&)
{
ARMARX_WARNING_S << "Received an unknown type when trying to convert a skill argument type to an aron data object.";
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
index e7cdcc999..a7d071906 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
@@ -70,7 +70,6 @@ namespace armarx
void visitAronVariant(const aron::type::DoublePtr&) override;
void visitAronVariant(const aron::type::BoolPtr&) override;
void visitAronVariant(const aron::type::StringPtr&) override;
- void visitAronVariant(const aron::type::DateTimePtr&) override;
void visitUnknown(Input&) override;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index 7c6b0ceaf..5e8cab9ee 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -121,9 +121,6 @@ namespace armarx
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
{ createSimpleTreeViewWidget(i, ""); }
- void
- AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::DateTimePtr& i)
- { createSimpleTreeViewWidget(i, "0"); }
void AronTreeWidgetCreatorVisitor::visitUnknown(Input&)
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
index eaaf07bd4..5a696d52c 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
@@ -68,7 +68,6 @@ namespace armarx
void visitAronVariant(const aron::type::DoublePtr& i) override;
void visitAronVariant(const aron::type::BoolPtr& i) override;
void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitAronVariant(const aron::type::DateTimePtr& i) override;
void visitUnknown(Input&) override;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
index c0db71919..07c0eee7a 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
@@ -118,12 +118,6 @@ namespace armarx
createdModal = std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
}
- void
- AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::DateTimePtr& i)
- {
- createdModal = std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
- }
-
void AronTreeWidgetModalCreatorVisitor::visitUnknown(Input&)
{
ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget modal for a skill argument type.";
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
index d2cd06df1..26764e6d2 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
@@ -76,7 +76,6 @@ namespace armarx
void visitAronVariant(const aron::type::DoublePtr& i) override;
void visitAronVariant(const aron::type::BoolPtr& i) override;
void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitAronVariant(const aron::type::DateTimePtr& i) override;
void visitUnknown(Input&) override;
};
}
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index 8667b1aaf..c766750c2 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -28,25 +28,25 @@ module armarx
{
enum Maybe
{
- eNone,
- eOptional,
- eRawPointer,
- eUniquePointer,
- eSharedPointer
+ NONE,
+ OPTIONAL,
+ RAW_PTR,
+ UNIQUE_PTR,
+ SHARED_PTR
};
module ndarray
{
enum ElementType
{
- uint8,
- int8,
- uint16,
- int16,
- uint32,
- int32,
- float32,
- float64
+ UINT8,
+ INT8,
+ UINT16,
+ INT16,
+ UINT32,
+ INT32,
+ FLOAT32,
+ FLOAT64
};
};
@@ -54,8 +54,8 @@ module armarx
{
enum PixelType
{
- rgb24,
- depth32
+ RGB24,
+ DEPTH32
};
};
@@ -63,13 +63,13 @@ module armarx
{
enum VoxelType
{
- PointXYZ,
- PointXYZI,
- PointXYZL,
- PointXYZRGB,
- PointXYZRGBL,
- PointXYZRGBA,
- PointXYZHSV
+ POINT_XYZ,
+ POINT_XYZI,
+ POINT_XYZL,
+ POINT_XYZRGB,
+ POINT_XYZRGBL,
+ POINT_XYZRGBA,
+ POINT_XYZHSV
};
};
@@ -77,11 +77,11 @@ module armarx
{
enum ElementType
{
- int16,
- int32,
- int64,
- float32,
- float64
+ INT16,
+ INT32,
+ INT64,
+ FLOAT32,
+ FLOAT64
};
};
@@ -89,8 +89,8 @@ module armarx
{
enum ElementType
{
- float32,
- float64
+ FLOAT32,
+ FLOAT64
};
};
@@ -98,7 +98,7 @@ module armarx
{
class GenericType {
string VERSION = ARON_VERSION;
- Maybe maybe = Maybe::eNone;
+ Maybe maybe = Maybe::NONE;
}
sequence<GenericType> GenericTypeSeq;
dictionary<string, GenericType> GenericTypeDict;
@@ -122,6 +122,9 @@ module armarx
//class FloatEnum extends GenericType { string enumName; StringFloatDict acceptedValues; }
//class StringEnum extends GenericType { string enumName; StringStringDict acceptedValues; }
+ /* ***** Any Types ***** */
+ class AnyObject extends GenericType { };
+
/* ***** Primitive Types ***** */
class AronInt extends GenericType { };
class AronLong extends GenericType { };
@@ -129,13 +132,6 @@ module armarx
class AronFloat extends GenericType { };
class AronString extends GenericType { };
class AronBool extends GenericType { };
-
- /* ***** DTO Types ***** */
- class AronDateTime extends GenericType { };
- class AronDuration extends GenericType { };
-
- /* ***** Any Types ***** */
- class AnyObject extends GenericType {};
};
};
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index e35bb3e34..28712a953 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -40,7 +40,6 @@ module armarx
string skillName;
aron::data::dto::Dict params;
};
-
struct ProviderInfo
{
string providerName;
@@ -48,18 +47,26 @@ module armarx
provider::dto::SkillDescriptionMap providedSkills;
};
+ // Provider data types
dictionary<string, provider::dto::SkillDescriptionMap> SkillDescriptionMapMap;
+ dictionary<string, provider::dto::SkillStatusUpdateMap> SkillStatusUpdateMapMap;
}
module dti
{
interface SkillManagerInterface extends callback::dti::SkillProviderCallbackInterface
{
+ // There is by design no method to access the providerPrx. You should only communicate with the manager
+
void addProvider(dto::ProviderInfo providerInfo);
void removeProvider(string providerName);
+
dto::SkillDescriptionMapMap getSkillDescriptions();
+ dto::SkillStatusUpdateMapMap getSkillExecutionStatuses();
+
void executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
void abortSkill(string providerName, string skillName);
+
};
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
index a2b2df045..8cb070f09 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
@@ -15,7 +15,7 @@ namespace armarx::armem::server::ltm
{
public:
ImageConverter(const ConverterType t, const std::string& id, const std::string& s):
- Converter(t, id, s, aron::type::Descriptor::eImage)
+ Converter(t, id, s, aron::type::Descriptor::IMAGE)
{}
virtual ~ImageConverter() = default;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
index e5c8e9f80..35f1a9d96 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
@@ -15,7 +15,7 @@ namespace armarx::armem::server::ltm
{
public:
ObjectConverter(const ConverterType t, const std::string& id, const std::string& s):
- Converter(t, id, s, aron::type::Descriptor::eObject)
+ Converter(t, id, s, aron::type::Descriptor::OBJECT)
{}
virtual ~ObjectConverter() = default;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
index 4640cca47..e0b4c1c6a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
@@ -10,7 +10,7 @@ namespace armarx::armem::server::ltm::extractor
auto dict = aron::data::Dict::DynamicCastAndCheck(data);
for (const auto& [key, child] : dict->getElements())
{
- if (child && child->getDescriptor() == aron::data::Descriptor::eNDArray)
+ if (child && child->getDescriptor() == aron::data::Descriptor::NDARRAY)
{
auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
auto shape = ndarray->getShape();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
index 09b305e3c..f7857c267 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::extractor
{
public:
DepthImageExtractor() :
- Extractor(aron::type::Descriptor::eImage, "depthimage")
+ Extractor(aron::type::Descriptor::IMAGE, "depthimage")
{
enabled = true;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
index c646a4f47..767de1c5c 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
@@ -10,7 +10,7 @@ namespace armarx::armem::server::ltm::extractor
auto dict = aron::data::Dict::DynamicCastAndCheck(data);
for (const auto& [key, child] : dict->getElements())
{
- if (child && child->getDescriptor() == aron::data::Descriptor::eNDArray)
+ if (child && child->getDescriptor() == aron::data::Descriptor::NDARRAY)
{
auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
auto shape = ndarray->getShape();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
index be9c80ba7..c8ef9669d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::extractor
{
public:
ImageExtractor() :
- Extractor(aron::type::Descriptor::eImage, "image")
+ Extractor(aron::type::Descriptor::IMAGE, "image")
{
enabled = true;
};
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 7ffdfbfdc..d6f9c58a2 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -28,7 +28,7 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>
namespace armarx::armem
@@ -55,7 +55,7 @@ namespace armarx::armem
#if 0
// item.data() is by definition a DictNavigator
- if (item.data()->getDescriptor() != aron::data::Descriptor::eDict)
+ if (item.data()->getDescriptor() != aron::data::Descriptor::DICT)
{
return std::nullopt;
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 61918cb20..5f6833487 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -282,7 +282,7 @@ namespace armarx::armem::gui::instance
aron::type::Descriptor type = static_cast<aron::type::Descriptor>(item->data(int(Columns::TYPE), Qt::UserRole).toInt());
switch (type)
{
- case aron::type::Descriptor::eImage:
+ case aron::type::Descriptor::IMAGE:
{
if (const std::optional<aron::Path> path = getElementPath(item))
{
@@ -699,7 +699,7 @@ namespace armarx::armem::gui::instance
// pixelType = aron::type::Image::pixelTypeFromName(imageData->getType());
// For now we assume it comes from c++ where '5' means CV_32FC1 (=5)
- pixelType = (imageData->getType() == "5" ? PixelType::depth32 : PixelType::rgb24);
+ pixelType = (imageData->getType() == "5" ? PixelType::DEPTH32 : PixelType::RGB24);
}
catch (const aron::error::AronException&)
{
@@ -711,12 +711,12 @@ namespace armarx::armem::gui::instance
{
switch (pixelType.value())
{
- case PixelType::rgb24:
+ case PixelType::RGB24:
ARMARX_CHECK_EQUAL(shape.at(2), 3) << "Expected Rgb24 image to have 3 bytes per pixel.";
image = QImage(imageData->getData(), cols, rows, QImage::Format::Format_RGB888);
break;
- case PixelType::depth32:
+ case PixelType::DEPTH32:
image = imageView->convertDepth32ToRGB32(*imageData);
clearLimitsHistory = false;
break;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index 7898b78f6..6b7e2a77a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -84,12 +84,12 @@ namespace armarx::aron
value << DataDisplayVisitor::getValue(data);
}
- void TypedDataDisplayVisitor::visitDateTime(const data::VariantPtr& data, const type::VariantPtr& type)
+ /*void TypedDataDisplayVisitor::visitDateTime(const data::VariantPtr& data, const type::VariantPtr& type)
{
auto l = data::Long::DynamicCastAndCheck(data);
armem::Time time { armem::Duration::MicroSeconds(l->getValue()) };
value << armem::toDateTimeMilliSeconds(time);
- }
+ }*/
template <typename ScalarT>
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index 699e54996..9d0193e37 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -39,7 +39,6 @@ namespace armarx::aron
void visitInt(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitLong(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitString(const data::VariantPtr& data, const type::VariantPtr& type) override;
- void visitDateTime(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitMatrix(const data::VariantPtr& data, const type::VariantPtr& type) override;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index 70edd5a51..baf2fc6b4 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -185,7 +185,7 @@ namespace armarx::armem::gui::instance
std::string typeName = instance::sanitizeTypeName(type->getFullName());
switch (type->getMaybe())
{
- case aron::type::Maybe::eOptional:
+ case aron::type::Maybe::OPTIONAL:
typeName = "Optional[" + typeName + "]";
break;
default:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
index ef1dbf9e0..c37bff2f8 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
@@ -14,13 +14,13 @@
namespace armarx::armem::gui::instance
{
- void TreeTypedDataVisitor::streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const
+ /*void TreeTypedDataVisitor::streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const
{
(void) type;
armem::Time time { armem::Duration::MicroSeconds(data.getValue()) };
armem::toDateTimeMilliSeconds(time);
ss << armem::toDateTimeMilliSeconds(time);
- }
+ }*/
void TreeTypedDataVisitor::streamValueText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
index 465bbd623..8ee94fd6c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
@@ -139,7 +139,7 @@ namespace armarx::armem::gui::instance
auto t = *aron::type::String::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitDateTime(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ /*void visitDateTime(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
ARMARX_CHECK_NOT_NULL(data);
ARMARX_CHECK_NOT_NULL(type);
@@ -148,7 +148,7 @@ namespace armarx::armem::gui::instance
auto d = *aron::data::Long::DynamicCastAndCheck(data);
auto t = *aron::type::DateTime::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
- }
+ }*/
void visitMatrix(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
@@ -249,7 +249,7 @@ namespace armarx::armem::gui::instance
}
using TreeDataVisitorBase::streamValueText;
- void streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const;
+ //void streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const;
void streamValueText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
void streamPoseText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
index e9bfd3adf..0a6e9e32c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
@@ -244,9 +244,9 @@ namespace armarx::armem::gui::instance
insertIntoJSON(key, s);
}
- void
- TreeTypedJSONConverter::visitDateTime(DataInput& elementData, TypeInput& /*elementType*/)
- {
+ //void
+ //TreeTypedJSONConverter::visitDateTime(DataInput& elementData, TypeInput& /*elementType*/)
+ /*{
const std::string key = elementData->getPath().getLastElement();
int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
armem::Time time { armem::Duration::MicroSeconds(l) };
@@ -255,7 +255,7 @@ namespace armarx::armem::gui::instance
{
insertIntoJSON(key + "_hr", armem::toDateTimeMilliSeconds(time));
}
- }
+ }*/
template <typename ElementType>
void
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
index 978701f94..e299f8f64 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
@@ -42,7 +42,6 @@ namespace armarx::armem::gui::instance
void visitDouble(DataInput& elementData, TypeInput& elementType) override;
void visitBool(DataInput& elementData, TypeInput& elementType) override;
void visitString(DataInput& elementData, TypeInput& elementType) override;
- void visitDateTime(DataInput& elementData, TypeInput& elementType) override;
private:
std::stack<std::pair<std::string, nlohmann::json>> jsonStack;
diff --git a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
index af5f91496..627d1a2ea 100644
--- a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
+++ b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
@@ -110,7 +110,7 @@ BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_ndarry)
{
tn::NDArray type;
type.setNumberDimensions(3); //old: { 3, 2, 1});
- type.setElementType(armarx::aron::type::ndarray::float32);
+ type.setElementType(armarx::aron::type::ndarray::FLOAT32);
test_sanitize(type.getFullName(), "NDArray");
}
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 7a36b0cbc..2144a7da9 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -28,7 +28,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/predictions.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/time/CycleUtil.h>
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 4fc3ce642..3bd7b2dfb 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -6,10 +6,6 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
-
namespace armarx::armem::robot
{
diff --git a/source/RobotAPI/libraries/aron/CMakeLists.txt b/source/RobotAPI/libraries/aron/CMakeLists.txt
index c45ff0856..ce4f7bc99 100644
--- a/source/RobotAPI/libraries/aron/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/CMakeLists.txt
@@ -1,4 +1,4 @@
add_subdirectory(core)
add_subdirectory(converter)
-add_subdirectory(codegenerationhelper)
+add_subdirectory(codegeneration)
add_subdirectory(common)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
new file mode 100644
index 000000000..3aed01744
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
@@ -0,0 +1,124 @@
+set(LIB_NAME aroncodegenerator)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+
+set(LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ RobotAPIInterfaces
+ cppgen
+ aron
+ SimoxUtility
+)
+
+set(LIB_FILES
+ typereader/xml/Data.cpp
+ typereader/xml/Factory.cpp
+ typereader/xml/Reader.cpp
+
+ codegenerator/codewriter/cpp/Writer.cpp
+ codegenerator/codewriter/cpp/generator/Generator.cpp
+ codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
+ codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+ codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+ codegenerator/codewriter/cpp/generator/container/Dict.cpp
+ codegenerator/codewriter/cpp/generator/container/List.cpp
+ codegenerator/codewriter/cpp/generator/container/Object.cpp
+ codegenerator/codewriter/cpp/generator/container/Tuple.cpp
+ codegenerator/codewriter/cpp/generator/container/Pair.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+ codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Int.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Long.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Float.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Double.cpp
+ codegenerator/codewriter/cpp/generator/primitive/String.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
+ codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
+ codegenerator/codewriter/cpp/generator/Factory.cpp
+)
+
+set(LIB_HEADERS
+ typereader/helper/GenerateInfo.h
+ typereader/helper/GenerateTypeInfo.h
+ typereader/helper/GenerateIntEnumInfo.h
+
+ typereader/Reader.h
+ typereader/xml/Data.h
+ typereader/xml/Factory.h
+ typereader/xml/Reader.h
+
+ codegenerator/helper/WriterInfo.h
+ codegenerator/helper/ReaderInfo.h
+
+ codegenerator/codewriter/CodeWriter.h
+ codegenerator/codewriter/Factory.h
+
+ codegenerator/codewriter/cpp/AronGeneratedClass.h
+ codegenerator/codewriter/cpp/Writer.h
+ codegenerator/codewriter/cpp/generator/Generator.h
+ codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
+ codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
+ codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+ codegenerator/codewriter/cpp/generator/toplevel/All.h
+ codegenerator/codewriter/cpp/generator/container/Dict.h
+ codegenerator/codewriter/cpp/generator/container/List.h
+ codegenerator/codewriter/cpp/generator/container/Object.h
+ codegenerator/codewriter/cpp/generator/container/Tuple.h
+ codegenerator/codewriter/cpp/generator/container/Pair.h
+ codegenerator/codewriter/cpp/generator/container/All.h
+ codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
+ codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+ codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
+ codegenerator/codewriter/cpp/generator/ndarray/Image.h
+ codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
+ codegenerator/codewriter/cpp/generator/ndarray/All.h
+ codegenerator/codewriter/cpp/generator/enum/IntEnum.h
+ codegenerator/codewriter/cpp/generator/enum/All.h
+ codegenerator/codewriter/cpp/generator/primitive/Int.h
+ codegenerator/codewriter/cpp/generator/primitive/Long.h
+ codegenerator/codewriter/cpp/generator/primitive/Float.h
+ codegenerator/codewriter/cpp/generator/primitive/Double.h
+ codegenerator/codewriter/cpp/generator/primitive/String.h
+ codegenerator/codewriter/cpp/generator/primitive/Bool.h
+ codegenerator/codewriter/cpp/generator/primitive/All.h
+ codegenerator/codewriter/cpp/generator/any/AnyObject.h
+ codegenerator/codewriter/cpp/generator/any/All.h
+ codegenerator/codewriter/cpp/generator/All.h
+ codegenerator/codewriter/cpp/generator/Factory.h
+)
+
+
+armarx_add_library(
+ LIB_NAME
+ "${LIB_NAME}"
+ SOURCES
+ "${LIB_FILES}"
+ HEADERS
+ "${LIB_HEADERS}"
+ LIBS
+ "${LIBS}"
+)
+
+add_library(AronCodegenerator ALIAS "${LIB_NAME}")
+add_library(RobotAPI::AronCodegenerator ALIAS "${LIB_NAME}")
+add_library(RobotAPI::aroncodegenerator ALIAS "${LIB_NAME}")
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
index 0bbf6ca52..942d036f3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
@@ -35,10 +35,10 @@
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
namespace armarx::aron::codegenerator
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/Factory.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/Factory.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
similarity index 98%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index c5da7452b..777dbb0b3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -194,7 +194,7 @@ namespace armarx::aron::codegenerator::cpp
else
{
c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
}
for (const std::string& s : additionalIncludes)
@@ -265,7 +265,7 @@ namespace armarx::aron::codegenerator::cpp
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
// ctor
c->addCtor(generator.toCopyCtor(c->getName()));
@@ -300,7 +300,7 @@ namespace armarx::aron::codegenerator::cpp
CppClassPtr Writer::setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const
{
const auto& type = gen.getType();
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
// Should not happen since we check the maybe flag on creation of the generator. However, better to double check
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
index 2e6cc994c..1ce3857fe 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
@@ -30,15 +30,15 @@
#include <vector>
// Parent class
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h>
// ArmarX
#include <ArmarXCore/libraries/cppgen/CppMethod.h>
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h>
namespace armarx::aron::codegenerator::cpp
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h
similarity index 89%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h
index 65ec2eca7..36169d4a2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h
@@ -6,7 +6,6 @@
#include "enum/All.h"
#include "primitive/All.h"
#include "any/All.h"
-#include "dto/All.h"
namespace {
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp
new file mode 100644
index 000000000..d159608a2
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp
@@ -0,0 +1,64 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// STD/STL
+
+// Header
+#include "Factory.h"
+
+// ArmarX
+#include "All.h"
+#include "enum/All.h"
+
+namespace armarx::aron::codegenerator::cpp
+{
+ // Access method
+ std::unique_ptr<Generator> GeneratorFactory::create(const type::Variant& n, const Path& path) const
+ {
+ auto desc = n.getDescriptor();
+ switch(desc)
+ {
+ case type::Descriptor::LIST: return std::make_unique<generator::List>(dynamic_cast<const type::List&>(n));
+ case type::Descriptor::DICT: return std::make_unique<generator::Dict>(dynamic_cast<const type::Dict&>(n));
+ case type::Descriptor::OBJECT: return std::make_unique<generator::Object>(dynamic_cast<const type::Object&>(n));
+ case type::Descriptor::TUPLE: return std::make_unique<generator::Tuple>(dynamic_cast<const type::Tuple&>(n));
+ case type::Descriptor::PAIR: return std::make_unique<generator::Pair>(dynamic_cast<const type::Pair&>(n));
+ case type::Descriptor::NDARRAY: return std::make_unique<generator::NDArray>(dynamic_cast<const type::NDArray&>(n));
+ case type::Descriptor::MATRIX: return std::make_unique<generator::Matrix>(dynamic_cast<const type::Matrix&>(n));
+ case type::Descriptor::QUATERNION: return std::make_unique<generator::Quaternion>(dynamic_cast<const type::Quaternion&>(n));
+ case type::Descriptor::IMAGE: return std::make_unique<generator::Image>(dynamic_cast<const type::Image&>(n));
+ case type::Descriptor::POINTCLOUD: return std::make_unique<generator::PointCloud>(dynamic_cast<const type::PointCloud&>(n));
+ case type::Descriptor::INT_ENUM: return std::make_unique<generator::IntEnum>(dynamic_cast<const type::IntEnum&>(n));
+ case type::Descriptor::INT: return std::make_unique<generator::Int>(dynamic_cast<const type::Int&>(n));
+ case type::Descriptor::LONG: return std::make_unique<generator::Long>(dynamic_cast<const type::Long&>(n));
+ case type::Descriptor::FLOAT: return std::make_unique<generator::Float>(dynamic_cast<const type::Float&>(n));
+ case type::Descriptor::DOUBLE: return std::make_unique<generator::Double>(dynamic_cast<const type::Double&>(n));
+ case type::Descriptor::STRING: return std::make_unique<generator::String>(dynamic_cast<const type::String&>(n));
+ case type::Descriptor::BOOL: return std::make_unique<generator::Bool>(dynamic_cast<const type::Bool&>(n));
+ case type::Descriptor::ANY_OBJECT: return std::make_unique<generator::AnyObject>(dynamic_cast<const type::AnyObject&>(n));
+ case type::Descriptor::UNKNOWN: break;
+ }
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Cannot create a generator", std::to_string((int) desc), path);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
similarity index 93%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
index 6f30af229..cc75cbe6b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
@@ -29,7 +29,7 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h>
#include <RobotAPI/libraries/aron/core/Descriptor.h>
namespace armarx::aron::codegenerator::cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
similarity index 87%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index 7db187e3e..fa4ead59d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -108,15 +108,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getInstantiatedCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::optional<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getInstantiatedCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::shared_ptr<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::unique_ptr<" + getInstantiatedCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -127,15 +127,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getInstantiatedCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::make_optional<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getInstantiatedCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::make_shared<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::make_unique<" + getInstantiatedCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -151,15 +151,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getClassCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::optional<" + getClassCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getClassCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::shared_ptr<" + getClassCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::unique_ptr<" + getClassCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -209,7 +209,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::eNone, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::NONE, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
@@ -370,11 +370,11 @@ namespace armarx::aron::codegenerator::cpp
std::string Generator::resolveMaybeAccessor(const std::string& s) const
{
const auto& t = getType();
- if (t.getMaybe() == type::Maybe::eOptional)
+ if (t.getMaybe() == type::Maybe::OPTIONAL)
{
return s + ".value()";
}
- if (t.getMaybe() == type::Maybe::eRawPointer || t.getMaybe() == type::Maybe::eSharedPointer || t.getMaybe() == type::Maybe::eUniquePointer)
+ if (t.getMaybe() == type::Maybe::RAW_PTR || t.getMaybe() == type::Maybe::SHARED_PTR || t.getMaybe() == type::Maybe::UNIQUE_PTR)
{
return "*" + s;
}
@@ -384,19 +384,19 @@ namespace armarx::aron::codegenerator::cpp
std::string Generator::resolveMaybeGenerator(const std::string& s) const
{
const auto& t = getType();
- if (t.getMaybe() == type::Maybe::eOptional)
+ if (t.getMaybe() == type::Maybe::OPTIONAL)
{
return s + " = std::make_optional<" + getInstantiatedCppTypename() + ">();";
}
- if (t.getMaybe() == type::Maybe::eRawPointer)
+ if (t.getMaybe() == type::Maybe::RAW_PTR)
{
return s + " = new " + getInstantiatedCppTypename() + "();";
}
- if (t.getMaybe() == type::Maybe::eSharedPointer)
+ if (t.getMaybe() == type::Maybe::SHARED_PTR)
{
return s + " = std::make_shared<" + getInstantiatedCppTypename() + ">();";
}
- if (t.getMaybe() == type::Maybe::eUniquePointer)
+ if (t.getMaybe() == type::Maybe::UNIQUE_PTR)
{
return s + " = std::make_unique<" + getInstantiatedCppTypename() + ">();";
}
@@ -408,12 +408,12 @@ namespace armarx::aron::codegenerator::cpp
const auto& type = getType();
switch (type.getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return ".";
- case type::Maybe::eOptional: //[[fallthrough]];
- case type::Maybe::eRawPointer: //[[fallthrough]];
- case type::Maybe::eSharedPointer: //[[fallthrough]];
- case type::Maybe::eUniquePointer:
+ case type::Maybe::OPTIONAL: //[[fallthrough]];
+ case type::Maybe::RAW_PTR: //[[fallthrough]];
+ case type::Maybe::SHARED_PTR: //[[fallthrough]];
+ case type::Maybe::UNIQUE_PTR:
return "->";
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) type.getMaybe()), type.getPath());
@@ -424,14 +424,14 @@ namespace armarx::aron::codegenerator::cpp
const auto& type = getType();
switch (type.getMaybe())
{
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return cppAccessor;
- case type::Maybe::eSharedPointer: //[[fallthrough]];
- case type::Maybe::eUniquePointer:
+ case type::Maybe::SHARED_PTR: //[[fallthrough]];
+ case type::Maybe::UNIQUE_PTR:
return cppAccessor + ".get()";
- case type::Maybe::eNone: //[[fallthrough]];
- case type::Maybe::eOptional: break;
+ case type::Maybe::NONE: //[[fallthrough]];
+ case type::Maybe::OPTIONAL: break;
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received invalid maybe enum (not a pointer?)", std::to_string((int) type.getMaybe()), type.getPath());
}
@@ -439,13 +439,13 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeResetHardBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional)
+ if (type.getMaybe() == type::Maybe::OPTIONAL)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine(cppAccessor + " = std::nullopt;");
return b;
}
- else if (type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ else if (type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine(cppAccessor + " = nullptr;");
@@ -457,7 +457,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeResetSoftBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (" + cppAccessor + ") // if " + cppAccessor + " contains data");
@@ -470,7 +470,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeWriteBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (" + cppAccessor + ") // if " + cppAccessor + " contains data");
@@ -483,7 +483,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeReadBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor, const std::string& variantAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (not (" + ARON_READER_ACCESSOR + ".readNull(" + variantAccessor + "))) // if aron contains data");
@@ -501,7 +501,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeEqualsBlock(const CppBlockPtr& block_if_data, const std::string& accessor, const std::string& otherInstanceAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (not ((bool) " + accessor + " == (bool) " + otherInstanceAccessor + ")) // check if both contain data");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
similarity index 70%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
index 604815e5e..57b140cc6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
@@ -26,8 +26,8 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
#include <ArmarXCore/libraries/cppgen/CppBlock.h>
#include <ArmarXCore/libraries/cppgen/CppField.h>
@@ -48,43 +48,11 @@ namespace armarx::aron::codegenerator::cpp
{
const std::map<type::Maybe, std::string> Maybe2CppString =
{
- {type::Maybe::eNone, "armarx::aron::type::Maybe::eNone"},
- {type::Maybe::eOptional, "armarx::aron::type::Maybe::eOptional"},
- {type::Maybe::eRawPointer, "armarx::aron::type::Maybe::eRawPointer"},
- {type::Maybe::eSharedPointer, "armarx::aron::type::Maybe::eSharedPointer"},
- {type::Maybe::eUniquePointer, "armarx::aron::type::Maybe::eUniquePointer"}
- };
-
- const std::map<type::matrix::ElementType, std::string> MatrixElementType2CppString =
- {
- {type::matrix::int16, "::armarx::aron::type::matrix::int16"},
- {type::matrix::int32, "::armarx::aron::type::matrix::int32"},
- {type::matrix::int64, "::armarx::aron::type::matrix::int64"},
- {type::matrix::float32, "::armarx::aron::type::matrix::float32"},
- {type::matrix::float64, "::armarx::aron::type::matrix::float64"}
- };
-
- const std::map<type::pointcloud::VoxelType, std::string> VoxelType2CppString =
- {
- {type::pointcloud::VoxelType::PointXYZ, "::armarx::aron::type::pointcloud::VoxelType::PointXYZ"},
- {type::pointcloud::VoxelType::PointXYZI, "::armarx::aron::type::pointcloud::VoxelType::PointXYZI"},
- {type::pointcloud::VoxelType::PointXYZL, "::armarx::aron::type::pointcloud::VoxelType::PointXYZL"},
- {type::pointcloud::VoxelType::PointXYZRGB, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGB"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGBL"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGBA"},
- {type::pointcloud::VoxelType::PointXYZHSV, "::armarx::aron::type::pointcloud::VoxelType::PointXYZHSV"}
- };
-
- const std::map<type::image::PixelType, std::string> PixelType2CppString =
- {
- {type::image::PixelType::rgb24, "::armarx::aron::type::image::PixelType::rgb24"},
- {type::image::PixelType::depth32, "::armarx::aron::type::image::PixelType::depth32"}
- };
-
- const std::map<type::quaternion::ElementType, std::string> QuaternionElementType2Cpp =
- {
- {type::quaternion::ElementType::float32, "::armarx::aron::type::quaternion::ElementType::float32"},
- {type::quaternion::ElementType::float64, "::armarx::aron::type::quaternion::ElementType::float64"}
+ {type::Maybe::NONE, "::armarx::aron::type::Maybe::NONE"},
+ {type::Maybe::OPTIONAL, "::armarx::aron::type::Maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "::armarx::aron::type::Maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "::armarx::aron::type::Maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "::armarx::aron::type::Maybe::UNIQUE_PTR"}
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
similarity index 56%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
index 169262339..b81341ae2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
@@ -37,14 +37,43 @@ namespace armarx::aron::codegenerator::cpp::generator
simox::meta::get_type_name<type::dto::AnyObject>(),
e)
{
- if (type.getMaybe() != type::Maybe::eSharedPointer)
+ // if the type is not known, we only accept shared ptr for unspecified aron dicts
+ if (type.getMaybe() != type::Maybe::SHARED_PTR)
{
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "At the momen the any object type must be a shared_ptr! Got ", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "At the moment the unknown any object type must be a shared_ptr! ", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
}
+
}
/* virtual implementations */
+ std::vector<std::string> AnyObject::getRequiredIncludes() const
+ {
+ std::vector<std::string> required_includes = {"<RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>"};
+ return required_includes;
+ }
+
+ CppBlockPtr AnyObject::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ auto block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
+ variantAccessor = Generator::ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ block_if_data->addLine(variantAccessor + " = armarx::aron::data::readAndWrite<armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
+
+ return block_if_data;
+ }
+
+ CppBlockPtr AnyObject::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
+ {
+ auto block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
+
+ block_if_data->addLine(cppAccessor + " = armarx::aron::data::Dict::DynamicCastAndCheck(armarx::aron::data::readAndWrite<aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
+
+ return block_if_data;
+ }
+
CppBlockPtr AnyObject::getWriteTypeBlock(const std::string& typeAccessor, const std::string& accessor, const Path& p, std::string& variantAccessor) const
{
CppBlockPtr b = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
similarity index 76%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
index 5d777de42..bfa7692ff 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/any/AnyObject.h>
@@ -38,6 +38,12 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~AnyObject() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
+
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
+
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
index f822086cf..ae26828fd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
{
@@ -37,10 +37,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Dict() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
index 26aa99b33..5c7302a68 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/List.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,10 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~List() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp
new file mode 100644
index 000000000..c7a8773cb
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp
@@ -0,0 +1,204 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// Header
+#include "Object.h"
+
+#include <SimoxUtility/meta/type_name.h>
+#include <SimoxUtility/algorithm/vector.hpp>
+
+
+namespace armarx::aron::codegenerator::cpp::generator
+{
+
+ namespace
+ {
+ std::pair<std::string, bool> checkForDtoTypeReplacements(const std::string& c)
+ {
+ static const std::map<std::string, std::string> DTO_REPLACEMENTS =
+ {
+ {"armarx::arondto::Duration", "armarx::core::time::Duration"},
+ {"armarx::arondto::DateTime", "armarx::core::time::DateTime"}
+ };
+
+ if (DTO_REPLACEMENTS.count(c) > 0)
+ {
+ auto s = DTO_REPLACEMENTS.at(c);
+ return {s, true};
+ }
+
+ // dont change the input
+ return {c, false};
+ }
+
+ std::vector<std::string> checkForAdditionalIncludes(const std::string& c)
+ {
+ static const std::map<std::string, std::vector<std::string>> DTO_REPLACEMENTS =
+ {
+ {"armarx::arondto::Duration", {"<ArmarXCore/core/time/Duration.h>", "<RobotAPI/libraries/aron/common/aron_conversions/time.h>", "<RobotAPI/libraries/aron/common/aron/time.aron.generated.h>"}},
+ {"armarx::arondto::DateTime", {"<ArmarXCore/core/time/DateTime.h>", "<RobotAPI/libraries/aron/common/aron_conversions/time.h>", "<RobotAPI/libraries/aron/common/aron/time.aron.generated.h>"}}
+ };
+
+ if (DTO_REPLACEMENTS.count(c) > 0)
+ {
+ return DTO_REPLACEMENTS.at(c);
+ }
+
+ // dont change the input
+ return {};
+ }
+ }
+
+ // constructors
+ Object::Object(const type::Object& e) :
+ detail::ContainerGenerator<type::Object, Object>(
+ e.getObjectNameWithTemplateInstantiations(),
+ e.getObjectNameWithTemplates(),
+ simox::meta::get_type_name<data::dto::Dict>(),
+ simox::meta::get_type_name<type::dto::AronObject>(), e),
+ isDtoReplacedObject(checkForDtoTypeReplacements(e.getObjectNameWithTemplateInstantiations()).second)
+ {
+ if (isDtoReplacedObject && getClassCppTypename() != getInstantiatedCppTypename())
+ {
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Templates in dto replaced objects are not supported yet!", getInstantiatedCppTypename(), type.getPath());
+ }
+ }
+
+
+ std::vector<std::string> Object::getRequiredIncludes() const
+ {
+ std::vector<std::string> ret;
+
+ // check for includes of members
+ for (const auto& [key, child] : type.getMemberTypes())
+ {
+ (void) key;
+ auto child_s = FromAronType(*child);
+ ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
+ }
+
+ // also check for additional includes from dto replacements
+ ret = simox::alg::appended(ret, checkForAdditionalIncludes(type.getObjectNameWithTemplates()));
+
+ return ret;
+ }
+
+ std::vector<CppFieldPtr> Object::getPublicVariableDeclarations(const std::string& name) const
+ {
+ auto r = checkForDtoTypeReplacements(this->getFullInstantiatedCppTypename());
+ auto field = std::make_shared<CppField>(r.first, name);
+ return {field};
+ }
+
+ CppBlockPtr Object::getResetSoftBlock(const std::string& cppAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ if (isDtoReplacedObject)
+ {
+ block_if_data->addLine(cppAccessor + " = {};");
+ }
+ else
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resetSoft();");
+ }
+ return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
+ }
+
+ CppBlockPtr Object::getResetHardBlock(const std::string& cppAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ auto r = checkForDtoTypeReplacements(this->getFullInstantiatedCppTypename());
+ block_if_data->addLine(cppAccessor + " = " + r.first + "();");
+ return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
+ }
+
+ CppBlockPtr Object::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ std::vector<std::string> templatesQuoted;
+ for (const auto& t : type.getTemplateInstantiations())
+ {
+ templatesQuoted.push_back("\"" + t + "\"");
+ }
+
+ b->addLine("auto " + variantAccessor + " = " + type.getObjectNameWithTemplateInstantiations() + "::writeType(" + ARON_WRITER_ACCESSOR + ", " +
+ "{" + simox::alg::join(templatesQuoted, ", ") + "}, " +
+ conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
+ "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+ return b;
+ }
+
+ CppBlockPtr Object::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
+ variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ // if is dto replacement
+ if (isDtoReplacedObject)
+ {
+ auto variantAccessorTmp = variantAccessor + "_tmp";
+ block_if_data->addLine("auto " + variantAccessorTmp + " = " + getClassCppTypename() + "();");
+ block_if_data->addLine("armarx::toAron("+variantAccessorTmp+", "+resolved_accessor+");");
+ block_if_data->addLine(variantAccessor + " = " + variantAccessorTmp + ".write(" + ARON_WRITER_ACCESSOR + ", "+
+ "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+ }
+ else
+ {
+ block_if_data->addLine(variantAccessor + " = " + cppAccessor + nextEl() + "write(" + ARON_WRITER_ACCESSOR + ", "+
+ "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+ }
+
+ return resolveMaybeWriteBlock(block_if_data, cppAccessor);
+ }
+
+ CppBlockPtr Object::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ if (const auto reset = resolveMaybeGenerator(cppAccessor); !reset.empty())
+ {
+ block_if_data->addLine(reset);
+ }
+
+ if (isDtoReplacedObject)
+ {
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
+ std::string variantAccessorTmp = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_tmp";
+ block_if_data->addLine("auto " + variantAccessorTmp + " = " + getClassCppTypename() + "();");
+ block_if_data->addLine(variantAccessorTmp + ".read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + ");");
+ block_if_data->addLine("armarx::fromAron(" + variantAccessorTmp + ", " + resolved_accessor + "); // of " + cppAccessor);
+ }
+ else
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + "); // of " + cppAccessor);
+ }
+
+ return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
similarity index 73%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
index cbdd8910f..28b94bfe1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -38,10 +38,15 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Object() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+
+ private:
+ bool isDtoReplacedObject = false;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
index 5d91ba10b..f37087d03 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Pair.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,10 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Pair() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
index e7ddafebf..52e565e89 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Tuple.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,10 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Tuple() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
index 792c10ec7..5260c3407 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
@@ -31,11 +31,11 @@
namespace armarx::aron::codegenerator::cpp::generator::detail
{
template<typename typeT, typename DerivedT>
- class DtoGenerator :
+ class AnyGenerator :
public SpecializedGeneratorBase<typeT, DerivedT>
{
public:
using SpecializedGeneratorBase<typeT, DerivedT>::SpecializedGeneratorBase;
- virtual ~DtoGenerator() = default;
+ virtual ~AnyGenerator() = default;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
index 8df5c01fc..ba487310e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h>
#include <memory>
#include <string>
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
similarity index 98%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
index 3c9fa87f1..c818db64a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
@@ -49,7 +49,7 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr IntEnum::getResetHardBlock(const std::string& accessor) const
{
CppBlockPtr b = std::make_shared<CppBlock>();
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
b->addLine(accessor + " = {};");
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
index f472129d9..cd5b36bce 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h>
#include <map>
@@ -44,10 +44,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~IntEnum() = default;
// virtual implementations
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
similarity index 91%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
index 3543f59e4..aae1c701a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
@@ -29,10 +29,10 @@
namespace armarx::aron::codegenerator::cpp::generator
{
- const std::map<type::image::PixelType, std::pair<std::string, int>> Image::PixelType2Cpp =
+ const std::map<type::image::PixelType, std::tuple<std::string, int, std::string>> PixelType2Cpp =
{
- { type::image::PixelType::rgb24, {"CV_8UC3", 3}},
- { type::image::PixelType::depth32, {"CV_32FC1", 4}},
+ { type::image::PixelType::RGB24, {"CV_8UC3", 3, "::armarx::aron::type::image::PixelType::RGB24"}},
+ { type::image::PixelType::DEPTH32, {"CV_32FC1", 4, "::armarx::aron::type::image::PixelType::DEPTH32"}},
};
@@ -55,7 +55,7 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr Image::getResetHardBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = detail::NDArrayGenerator<type::Image, Image>::getResetHardBlock(cppAccessor);
- block_if_data->addLine(cppAccessor + ".create(0, 0, " + PixelType2Cpp.at(type.getPixelType()).first + ");");
+ block_if_data->addLine(cppAccessor + ".create(0, 0, " + std::get<0>(PixelType2Cpp.at(type.getPixelType())) + ");");
return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
}
@@ -63,7 +63,7 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr Image::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + ".create(0, 0, " + PixelType2Cpp.at(type.getPixelType()).first + ");");
+ block_if_data->addLine(cppAccessor + ".create(0, 0, " + std::get<0>(PixelType2Cpp.at(type.getPixelType())) + ");");
return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
}
@@ -74,7 +74,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeImage(" + conversion::PixelType2CppString.at(type.getPixelType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeImage(" + std::get<2>(PixelType2Cpp.at(type.getPixelType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
similarity index 75%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
index 8cee1dc26..72f6947c9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h>
#include <map>
@@ -42,17 +42,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Image() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- /// Maps ARON pixel types to OpenCV image type constants.
- static const std::map<type::image::PixelType, std::pair<std::string, int>> PixelType2Cpp;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
similarity index 79%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index d32f00c4b..2fbfad0e8 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -29,21 +29,20 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::matrix::ElementType, std::pair<std::string, int>> Matrix::ElementType2Cpp =
+ const std::map<type::matrix::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
- {type::matrix::int16, {"short", 2}},
- {type::matrix::int32, {"int", 4}},
- {type::matrix::int64, {"long", 8}},
- {type::matrix::float32, {"float", 4}},
- {type::matrix::float64, {"double", 8}}
+ {type::matrix::INT16, {"short", 2, "::armarx::aron::type::matrix::INT16"}},
+ {type::matrix::INT32, {"int", 4, "::armarx::aron::type::matrix::INT32"}},
+ {type::matrix::INT64, {"long", 8, "::armarx::aron::type::matrix::INT64"}},
+ {type::matrix::FLOAT32, {"float", 4, "::armarx::aron::type::matrix::FLOAT32"}},
+ {type::matrix::FLOAT64, {"double", 8, "::armarx::aron::type::matrix::FLOAT64"}}
};
// constructors
Matrix::Matrix(const type::Matrix& n) :
detail::NDArrayGenerator<type::Matrix, Matrix>(
- "Eigen::Matrix<" + ElementType2Cpp.at(n.getElementType()).first + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
- "Eigen::Matrix<" + ElementType2Cpp.at(n.getElementType()).first + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
+ "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
+ "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::Matrix>(), n)
{
@@ -68,7 +67,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeMatrix((int) " + std::to_string(type.getRows()) + ", " +
"(int) " + std::to_string(type.getCols()) + ", " +
- conversion::MatrixElementType2CppString.at(type.getElementType()) + ", " +
+ std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
@@ -83,8 +82,8 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({(int) " + cppAccessor + nextEl() + "rows(), "+
"(int) " + cppAccessor + nextEl() + "cols(), " +
- std::to_string(ElementType2Cpp.at(type.getElementType()).second) + "}, "+
- "\"" + ElementType2Cpp.at(type.getElementType()).first + "\", "+
+ std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, "+
+ "\"" + std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
index 881010796..9f56f2b98 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h>
#include <map>
@@ -41,14 +41,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Matrix() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- static const std::map<type::matrix::ElementType, std::pair<std::string, int>> ElementType2Cpp;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
index 428ca861d..3b1d3d2cc 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h>
#include <string>
@@ -41,9 +41,9 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~NDArray() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
index fa5cf35b9..78e42fe08 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
@@ -29,24 +29,23 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::pointcloud::VoxelType, std::pair<std::string, int>> PointCloud::VoxelType2Cpp =
+ const std::map<type::pointcloud::VoxelType, std::tuple<std::string, int, std::string>> VoxelType2Cpp =
{
// see http://docs.ros.org/en/groovy/api/pcl/html/point__types_8hpp_source.html
- {type::pointcloud::VoxelType::PointXYZ, {"pcl::PointXYZ", 16}},
- {type::pointcloud::VoxelType::PointXYZI, {"pcl::PointXYZI", 32}},
- {type::pointcloud::VoxelType::PointXYZL, {"pcl::PointXYZL", 32}},
- {type::pointcloud::VoxelType::PointXYZRGB, {"pcl::PointXYZRGB", 32}},
- {type::pointcloud::VoxelType::PointXYZRGBL, {"pcl::PointXYZRGBL", 32}},
- {type::pointcloud::VoxelType::PointXYZRGBA, {"pcl::PointXYZRGBA", 32}},
- {type::pointcloud::VoxelType::PointXYZHSV, {"pcl::PointXYZHSV", 32}}
+ {type::pointcloud::VoxelType::POINT_XYZ, {"pcl::PointXYZ", 16, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZ"}},
+ {type::pointcloud::VoxelType::POINT_XYZI, {"pcl::PointXYZI", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZI"}},
+ {type::pointcloud::VoxelType::POINT_XYZL, {"pcl::PointXYZL", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZL"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, {"pcl::PointXYZRGB", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGB"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, {"pcl::PointXYZRGBL", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGBL"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, {"pcl::PointXYZRGBA", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGBA"}},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, {"pcl::PointXYZHSV", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZHSV"}}
};
// constructors
PointCloud::PointCloud(const type::PointCloud& n) :
detail::NDArrayGenerator<type::PointCloud, PointCloud>(
- "pcl::PointCloud<" + VoxelType2Cpp.at(n.getVoxelType()).first + ">",
- "pcl::PointCloud<" + VoxelType2Cpp.at(n.getVoxelType()).first + ">",
+ "pcl::PointCloud<" + std::get<0>(VoxelType2Cpp.at(n.getVoxelType())) + ">",
+ "pcl::PointCloud<" + std::get<0>(VoxelType2Cpp.at(n.getVoxelType())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::PointCloud>(),
n)
@@ -71,7 +70,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePointCloud(" + conversion::VoxelType2CppString.at(type.getVoxelType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePointCloud(" + std::get<2>(VoxelType2Cpp.at(type.getVoxelType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
@@ -83,8 +82,8 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height, " + std::to_string(VoxelType2Cpp.at(type.getVoxelType()).second) + "}, "+
- "\"" + VoxelType2Cpp.at(type.getVoxelType()).first + "\", "+
+ block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height, " + std::to_string(std::get<1>(VoxelType2Cpp.at(type.getVoxelType()))) + "}, "+
+ "\"" + std::get<0>(VoxelType2Cpp.at(type.getVoxelType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
index 34936fbd6..9edc5a318 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h>
#include <map>
@@ -40,14 +40,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~PointCloud() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const override;
-
- public:
- static const std::map<type::pointcloud::VoxelType, std::pair<std::string, int>> VoxelType2Cpp;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
similarity index 84%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
index 4a89ce3b5..32dae76ef 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
@@ -29,18 +29,17 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::quaternion::ElementType, std::pair<std::string, int>> Quaternion::ElementType2Cpp =
+ const std::map<type::quaternion::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
- {type::quaternion::ElementType::float32, {"float", 4}},
- {type::quaternion::ElementType::float64, {"double", 8}}
+ {type::quaternion::ElementType::FLOAT32, {"float", 4, "::armarx::aron::type::quaternion::ElementType::FLOAT32"}},
+ {type::quaternion::ElementType::FLOAT64, {"double", 8, "::armarx::aron::type::quaternion::ElementType::FLOAT64"}}
};
// constructors
Quaternion::Quaternion(const type::Quaternion& n) :
detail::NDArrayGenerator<type::Quaternion, Quaternion>(
- "Eigen::Quaternion<" + ElementType2Cpp.at(n.getElementType()).first + ">",
- "Eigen::Quaternion<" + ElementType2Cpp.at(n.getElementType()).first + ">",
+ "Eigen::Quaternion<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ">",
+ "Eigen::Quaternion<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::Quaternion>(),
n)
@@ -65,7 +64,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeQuaternion(" + conversion::QuaternionElementType2Cpp.at(type.getElementType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeQuaternion(" + std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
@@ -77,8 +76,8 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({1, 4, " + std::to_string(ElementType2Cpp.at(type.getElementType()).second) + "}, "+
- "\"" + ElementType2Cpp.at(type.getElementType()).first + "\", "+
+ block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({1, 4, " + std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, "+
+ "\"" + std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "coeffs().data()), "+
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
index 063eb5308..f74468159 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
@@ -24,7 +24,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h>
#include <map>
@@ -41,14 +41,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Quaternion() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- static const std::map<type::quaternion::ElementType, std::pair<std::string, int>> ElementType2Cpp;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
index 082859e00..85172f3de 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
@@ -39,6 +39,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Bool() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
index dc65d42d9..e109cc626 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Double.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Double() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
index 3e4381262..a2f52f4fb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Float.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Float() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
index a57193e00..eb18e4454 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Int.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Int() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
index c16b8c439..8e74bf85b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Long.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Long() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
index 254cd4e84..7db96c871 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~String() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
similarity index 99%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index 2b7b64550..768fa0dd6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -38,7 +38,7 @@ namespace armarx::aron::codegenerator::cpp::generator
simox::meta::get_type_name<type::dto::IntEnum>(),
n)
{
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level int enum declaration is set. This is not valid!", std::to_string((int) type.getMaybe()), type.getPath());
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
similarity index 88%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
index 1d105b79c..b03310d42 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h>
#include <map>
@@ -41,13 +41,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~IntEnumClass() = default;
// virtual implementations
- std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const final;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
// TODO: Move some of those methods to upper class for enums (if we want to support multiple enums)
CppCtorPtr toCopyCtor(const std::string&) const;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
similarity index 98%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index 4a6482d81..f8e044b8d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -38,7 +38,7 @@ namespace armarx::aron::codegenerator::cpp::generator
simox::meta::get_type_name<data::dto::Dict>(),
simox::meta::get_type_name<type::dto::AronObject>(), e)
{
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
}
@@ -119,7 +119,7 @@ namespace armarx::aron::codegenerator::cpp::generator
b->addLine("auto " + OBJECT_EXTENDS_ACCESSOR + " = " + extends_s->getFullInstantiatedCppTypename() + "::writeType(" +
ARON_WRITER_ACCESSOR + ", " +
"{" + simox::alg::join(type.getExtends()->getTemplateInstantiations(), ", ") + "}, " +
- "::armarx::aron::type::Maybe::eNone);");
+ "::armarx::aron::type::Maybe::NONE);");
}
else
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
index 7046cddfa..dd8e7d3d9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -38,13 +38,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~ObjectClass() = default;
// virtual implementations
- std::vector<std::string> getRequiredIncludes() const override;
- std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string&) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string&) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const final;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string&) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string&) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
new file mode 100644
index 000000000..e57da47b6
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -0,0 +1,147 @@
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+find_package(OpenCV QUIET)
+armarx_build_if(OpenCV_FOUND "OpenCV not available")
+
+find_package(PCL QUIET)
+armarx_build_if(PCL_FOUND "PCL not available")
+
+######################
+# ARON OPERATOR TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronOperatorTest
+ TEST_FILE
+ aronOperatorTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ aron
+ aroncommon
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+######################
+# ARON CODE GEN TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronCodeGenerationTest
+ TEST_FILE
+ aronCodeGenerationTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/AnyTest.xml
+ aron/TemplateTest.xml
+ aron/DictTest.xml
+ aron/MatrixTest.xml
+ aron/QuaternionTest.xml
+ aron/EnumTest.xml
+ aron/HumanPoseTest.xml
+ aron/ImageTest.xml
+ aron/ListTest.xml
+ aron/NaturalIKTest.xml
+ aron/ObjectTest.xml
+ aron/OrientationTest.xml
+ aron/PointCloudTest.xml
+ aron/PoseTest.xml
+ aron/PositionTest.xml
+ aron/PrimitiveTest.xml
+ aron/OptionalTest.xml
+ aron/DtoTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+ ${Eigen3_INCLUDE_DIR}
+ ${IVT_INCLUDE_DIRS}
+ ${OpenCV_INCLUDE_DIRS}
+ ${PCL_INCLUDE_DIRS}
+)
+
+######################
+# ARON NAVIGATE TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronNavigateTest
+ TEST_FILE
+ aronNavigateTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/NaturalIKTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+######################
+# ARON EXTENDS TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronExtendsTest
+ TEST_FILE
+ aronExtendsTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/BaseClassTest.xml
+ aron/DerivedClassTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+########################
+# ARON RANDOMIZED TEST #
+########################
+#armarx_add_test(
+# TEST_NAME
+# aronRandomizedTest
+# TEST_FILE
+# aronRandomizedTest.cpp
+# LIBS
+# SimoxUtility # Simox::SimoxUtility
+# ArmarXCore
+# RobotAPI::aron
+# ivt
+# ivtopencv
+# ${PCL_COMMON_LIBRARIES}
+# aronjsonconverter
+# ARON_FILES
+# aron/DictTest.xml
+# aron/MatrixTest.xml
+# aron/QuaternionTest.xml
+# aron/EnumTest.xml
+# aron/HumanPoseTest.xml
+# aron/ListTest.xml
+# aron/NaturalIKTest.xml
+# aron/ObjectTest.xml
+# aron/OrientationTest.xml
+# aron/PointCloudTest.xml
+# aron/PoseTest.xml
+# aron/PositionTest.xml
+# aron/PrimitiveTest.xml
+# aron/OptionalTest.xml
+# aron/ImageTest.xml
+# INCLUDE_DIRECTORIES
+# ${Simox_INCLUDE_DIR}
+# ${Eigen3_INCLUDE_DIR}
+# ${IVT_INCLUDE_DIRS}
+# ${OpenCV_INCLUDE_DIRS}
+# ${PCL_INCLUDE_DIRS}
+#)
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/AnyTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/AnyTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
index fba1b8461..53e8107bc 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<AronIncludes>
- <Include include="<RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml>" autoinclude="true" />
+ <Include include="<RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml>" autoinclude="true" />
</AronIncludes>
<GenerateTypes>
<Object name='armarx::DerivedClassTest' extends="armarx::BaseClassTest" doc-brief="This is a brief doc" doc-author="Itse me, Mario!">
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.xml
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
new file mode 100644
index 000000000..b08df68f4
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
@@ -0,0 +1,16 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::DtoTest'>
+ <objectchild key='the_time'>
+ <datetime />
+ </ObjectChild>
+ <objectchild key='the_duration'>
+ <duration />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+
+
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/IKResult.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/IKResult.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/MatrixTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/MatrixTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PointCloudTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/PointCloudTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
similarity index 89%
rename from source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
index ea38c815f..177030669 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
@@ -21,9 +21,6 @@
<objectchild key='the_bool'>
<bool />
</ObjectChild>
- <objectchild key='the_time'>
- <time />
- </ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/QuaternionTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/QuaternionTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/TemplateTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/TemplateTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
similarity index 88%
rename from source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
index 392739b2d..e9c8ad44b 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
@@ -38,25 +38,23 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
-// Aron
-#include <RobotAPI/libraries/aron/core/test/Randomizer.h>
-
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/TemplateTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/AnyTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ListTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ImageTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/MatrixTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/QuaternionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PointCloudTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PositionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OrientationTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PoseTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/EnumTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OptionalTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.aron.generated.h>
using namespace armarx;
using namespace aron;
@@ -266,7 +264,6 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationPrimitiveTest)
BOOST_CHECK_EQUAL(p.the_int, 0);
BOOST_CHECK_EQUAL(p.the_long, 0);
BOOST_CHECK_EQUAL(p.the_string, "");
- BOOST_CHECK(p.the_time == IceUtil::Time());
}
@@ -288,7 +285,7 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationOptionalTest)
BOOST_CHECK_EQUAL(typeid(p.some_string), typeid(std::optional<std::string>));
auto aronType = p.ToAronType();
- BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe(), aron::type::Maybe::eOptional);
+ BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe(), aron::type::Maybe::OPTIONAL);
BOOST_CHECK(not p.some_float.has_value());
auto aron = p.toAron();
diff --git a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
similarity index 93%
rename from source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
index 81a11bda2..df6735345 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
@@ -42,8 +42,8 @@
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/BaseClassTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.aron.generated.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
similarity index 95%
rename from source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
index e7d0393c6..a21694073 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
@@ -38,11 +38,8 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
-// Aron
-#include <RobotAPI/libraries/aron/core/test/Randomizer.h>
-
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.aron.generated.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronOperatorTest.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronOperatorTest.cpp
diff --git a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronRandomizedTest.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronRandomizedTest.cpp
diff --git a/source/RobotAPI/libraries/aron/core/typereader/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
similarity index 89%
rename from source/RobotAPI/libraries/aron/core/typereader/Reader.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
index c5e7b7234..31ab1c618 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
@@ -29,10 +29,10 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
namespace armarx::aron::typereader
{
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
similarity index 98%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
index 1c84a04f5..3a7ba2a06 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
@@ -61,7 +61,7 @@ namespace armarx::aron::typereader::xml
return node.attribute_value(att.c_str());
}
- std::string util::GetAttributeWithDefault(const armarx::RapidXmlReaderNode& node, const std::string& att, const std::string def)
+ std::string util::GetAttributeWithDefault(const armarx::RapidXmlReaderNode& node, const std::string& att, const std::string& def)
{
if (!(HasAttribute(node, att)))
{
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
similarity index 92%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
index 7675e7151..bc1a43705 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
@@ -99,22 +99,22 @@ namespace armarx::aron::typereader::xml
const std::string DOUBLE_TAG = "double";
const std::string STRING_TAG = "string";
const std::string BOOL_TAG = "bool";
- const std::string DATE_TIME_TAG = "datetime";
const std::string ANY_OBJECT_TAG = "anyobject";
// others
- const std::string WHATEVER_VALUE = "x";
+ const std::vector<std::string> WHATEVER_VALUES = {"?"};
// Replacements ({tagName, {replacementsTag, additionalAronDTOInclude}})
- const std::map<std::string, std::pair<std::string, std::string>> REPLACEMENTS = {
+ const std::map<std::string, std::pair<std::string, std::string>> REPLACEMENTS =
+ {
{"position", {"<matrix rows='3' cols='1' type='float32' />", ""}},
{"pose", {"<matrix rows='4' cols='4' type='float32' />", ""}},
{"orientation", {"<quaternion type='float32' />", ""}},
- // Legacy
- {"time", {"<DateTime />", ""}}
-
// You can also add replacements for arondtos here!
+ {"datetime", {"<armarx::arondto::DateTime />", "<RobotAPI/libraries/aron/common/aron/time.xml>"}},
+ {"time", {"<armarx::arondto::DateTime />", "<RobotAPI/libraries/aron/common/aron/time.xml>"}},
+ {"duration", {"<armarx::arondto::Duration />", "<RobotAPI/libraries/aron/common/aron/time.xml>"}}
};
}
@@ -126,7 +126,7 @@ namespace armarx::aron::typereader::xml
void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
- std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string def);
+ std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
similarity index 76%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
index 8c54cfff8..5eebd6d76 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
@@ -42,25 +42,24 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::Descriptor> String2Descriptor =
{
- {constantes::LIST_TAG, type::Descriptor::eList},
- {constantes::OBJECT_TAG, type::Descriptor::eObject},
- {constantes::TUPLE_TAG, type::Descriptor::eTuple},
- {constantes::PAIR_TAG, type::Descriptor::ePair},
- {constantes::DICT_TAG, type::Descriptor::eDict},
- {constantes::NDARRAY_TAG, type::Descriptor::eNDArray},
- {constantes::MATRIX_TAG, type::Descriptor::eMatrix},
- {constantes::QUATERNION_TAG, type::Descriptor::eQuaternion},
- {constantes::POINT_CLOUD_TAG, type::Descriptor::ePointCloud},
- {constantes::IMAGE_TAG, type::Descriptor::eImage},
- {constantes::INT_ENUM_TAG, type::Descriptor::eIntEnum},
- {constantes::INT_TAG, type::Descriptor::eInt},
- {constantes::LONG_TAG, type::Descriptor::eLong},
- {constantes::FLOAT_TAG, type::Descriptor::eFloat},
- {constantes::DOUBLE_TAG, type::Descriptor::eDouble},
- {constantes::STRING_TAG, type::Descriptor::eString},
- {constantes::BOOL_TAG, type::Descriptor::eBool},
- {constantes::DATE_TIME_TAG, type::Descriptor::eDateTime},
- {constantes::ANY_OBJECT_TAG, type::Descriptor::eAnyObject}
+ {constantes::LIST_TAG, type::Descriptor::LIST},
+ {constantes::OBJECT_TAG, type::Descriptor::OBJECT},
+ {constantes::TUPLE_TAG, type::Descriptor::TUPLE},
+ {constantes::PAIR_TAG, type::Descriptor::PAIR},
+ {constantes::DICT_TAG, type::Descriptor::DICT},
+ {constantes::NDARRAY_TAG, type::Descriptor::NDARRAY},
+ {constantes::MATRIX_TAG, type::Descriptor::MATRIX},
+ {constantes::QUATERNION_TAG, type::Descriptor::QUATERNION},
+ {constantes::POINT_CLOUD_TAG, type::Descriptor::POINTCLOUD},
+ {constantes::IMAGE_TAG, type::Descriptor::IMAGE},
+ {constantes::INT_ENUM_TAG, type::Descriptor::INT_ENUM},
+ {constantes::INT_TAG, type::Descriptor::INT},
+ {constantes::LONG_TAG, type::Descriptor::LONG},
+ {constantes::FLOAT_TAG, type::Descriptor::FLOAT},
+ {constantes::DOUBLE_TAG, type::Descriptor::DOUBLE},
+ {constantes::STRING_TAG, type::Descriptor::STRING},
+ {constantes::BOOL_TAG, type::Descriptor::BOOL},
+ {constantes::ANY_OBJECT_TAG, type::Descriptor::ANY_OBJECT}
};
RapidXmlReaderNode nodeToUse = node;
@@ -77,29 +76,28 @@ namespace armarx::aron::typereader::xml
std::string nodeNameToUse = nodeToUse.name();
auto it = String2Descriptor.find(tagToUse);
- auto descriptor = (it == String2Descriptor.end() ? type::Descriptor::eUnknown : it->second);
+ auto descriptor = (it == String2Descriptor.end() ? type::Descriptor::UNKNOWN : it->second);
switch(descriptor)
{
- case type::Descriptor::eList: return createList(nodeToUse, path);
- case type::Descriptor::eDict: return createDict(nodeToUse, path);
- case type::Descriptor::eObject: return createObject(nodeToUse, path);
- case type::Descriptor::eTuple: return createTuple(nodeToUse, path);
- case type::Descriptor::ePair: return createPair(nodeToUse, path);
- case type::Descriptor::eNDArray: return createNDArray(nodeToUse, path);
- case type::Descriptor::eMatrix: return createMatrix(nodeToUse, path);
- case type::Descriptor::eQuaternion: return createQuaternion(nodeToUse, path);
- case type::Descriptor::eImage: return createImage(nodeToUse, path);
- case type::Descriptor::ePointCloud: return createPointCloud(nodeToUse, path);
- case type::Descriptor::eIntEnum: return createIntEnum(nodeToUse, path);
- case type::Descriptor::eInt: return createInt(nodeToUse, path);
- case type::Descriptor::eLong: return createLong(nodeToUse, path);
- case type::Descriptor::eFloat: return createFloat(nodeToUse, path);
- case type::Descriptor::eDouble: return createDouble(nodeToUse, path);
- case type::Descriptor::eString: return createString(nodeToUse, path);
- case type::Descriptor::eBool: return createBool(nodeToUse, path);
- case type::Descriptor::eDateTime: return createTime(nodeToUse, path);
- case type::Descriptor::eAnyObject: return createAnyObject(nodeToUse, path);
+ case type::Descriptor::LIST: return createList(nodeToUse, path);
+ case type::Descriptor::DICT: return createDict(nodeToUse, path);
+ case type::Descriptor::OBJECT: return createObject(nodeToUse, path);
+ case type::Descriptor::TUPLE: return createTuple(nodeToUse, path);
+ case type::Descriptor::PAIR: return createPair(nodeToUse, path);
+ case type::Descriptor::NDARRAY: return createNDArray(nodeToUse, path);
+ case type::Descriptor::MATRIX: return createMatrix(nodeToUse, path);
+ case type::Descriptor::QUATERNION: return createQuaternion(nodeToUse, path);
+ case type::Descriptor::IMAGE: return createImage(nodeToUse, path);
+ case type::Descriptor::POINTCLOUD: return createPointCloud(nodeToUse, path);
+ case type::Descriptor::INT_ENUM: return createIntEnum(nodeToUse, path);
+ case type::Descriptor::INT: return createInt(nodeToUse, path);
+ case type::Descriptor::LONG: return createLong(nodeToUse, path);
+ case type::Descriptor::FLOAT: return createFloat(nodeToUse, path);
+ case type::Descriptor::DOUBLE: return createDouble(nodeToUse, path);
+ case type::Descriptor::STRING: return createString(nodeToUse, path);
+ case type::Descriptor::BOOL: return createBool(nodeToUse, path);
+ case type::Descriptor::ANY_OBJECT: return createAnyObject(nodeToUse, path);
default: return findExistingObject(nodeNameToUse);
}
}
@@ -122,20 +120,20 @@ namespace armarx::aron::typereader::xml
return v;
}
- const auto public_unk_it = std::find(allPreviouslyKnownPublicTypes.begin(), allPreviouslyKnownPublicTypes.end(), name);
- if(public_unk_it != allPreviouslyKnownPublicTypes.end())
+ const auto public_known_it = std::find(allPreviouslyKnownPublicTypes.begin(), allPreviouslyKnownPublicTypes.end(), name);
+ if(public_known_it != allPreviouslyKnownPublicTypes.end())
{
// create an empty navigator
- auto v = std::make_shared<aron::type::Object>(*public_unk_it);
+ auto v = std::make_shared<aron::type::Object>(*public_known_it);
return v;
}
// only works during generation process (not for top-level)
- const auto public_priv_it = std::find(allPreviouslyKnownPrivateTypes.begin(), allPreviouslyKnownPrivateTypes.end(), name);
- if(public_priv_it != allPreviouslyKnownPrivateTypes.end())
+ const auto private_known_it = std::find(allPreviouslyKnownPrivateTypes.begin(), allPreviouslyKnownPrivateTypes.end(), name);
+ if(private_known_it != allPreviouslyKnownPrivateTypes.end())
{
// create an empty navigator
- auto v = std::make_shared<aron::type::Object>(*public_priv_it);
+ auto v = std::make_shared<aron::type::Object>(*private_known_it);
return v;
}
@@ -146,21 +144,21 @@ namespace armarx::aron::typereader::xml
{
if (util::AttributeIsTrue(n, constantes::OPTIONAL_NAME))
{
- return type::Maybe::eOptional;
+ return type::Maybe::OPTIONAL;
}
if (util::AttributeIsTrue(n, constantes::RAW_PTR_NAME))
{
- return type::Maybe::eRawPointer;
+ return type::Maybe::RAW_PTR;
}
if (util::AttributeIsTrue(n, constantes::SHARED_PTR_NAME))
{
- return type::Maybe::eSharedPointer;
+ return type::Maybe::SHARED_PTR;
}
if (util::AttributeIsTrue(n, constantes::UNIQUE_PTR_NAME))
{
- return type::Maybe::eUniquePointer;
+ return type::Maybe::UNIQUE_PTR;
}
- return type::Maybe::eNone;
+ return type::Maybe::NONE;
}
void ReaderFactory::checkObjectMemberName(const std::string& s) const
@@ -219,7 +217,7 @@ namespace armarx::aron::typereader::xml
auto maybe = getMaybe(children[0]);
type::VariantPtr childNavigator = create(children[0], path.withElement(key));
- if (childNavigator->getDescriptor() == aron::type::Descriptor::eObject)
+ if (childNavigator->getDescriptor() == aron::type::Descriptor::OBJECT)
{
// check if template args are present
std::vector<std::string> templates = simox::alg::split(util::GetAttributeWithDefault(children[0], constantes::TEMPLATE_ATTRIBUTE_NAME, ""), ",");
@@ -322,14 +320,14 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::ndarray::ElementType> String2NDArrayType =
{
- {"int8", type::ndarray::ElementType::int8},
- {"int16", type::ndarray::ElementType::int16},
- {"int32", type::ndarray::ElementType::int32},
- {"uint8", type::ndarray::ElementType::uint8},
- {"uint16", type::ndarray::ElementType::uint16},
- {"uint32", type::ndarray::ElementType::uint32},
- {"float32", type::ndarray::ElementType::float32},
- {"float64", type::ndarray::ElementType::float64}
+ {"int8", type::ndarray::ElementType::INT8},
+ {"int16", type::ndarray::ElementType::INT16},
+ {"int32", type::ndarray::ElementType::INT32},
+ {"uint8", type::ndarray::ElementType::UINT8},
+ {"uint16", type::ndarray::ElementType::UINT16},
+ {"uint32", type::ndarray::ElementType::UINT32},
+ {"float32", type::ndarray::ElementType::FLOAT32},
+ {"float64", type::ndarray::ElementType::FLOAT64}
};
return nullptr;
@@ -339,11 +337,11 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::matrix::ElementType> String2MatrixType =
{
- {"int16", type::matrix::ElementType::int16},
- {"int32", type::matrix::ElementType::int32},
- {"int64", type::matrix::ElementType::int64},
- {"float32", type::matrix::ElementType::float32},
- {"float64", type::matrix::ElementType::float64}
+ {"int16", type::matrix::ElementType::INT16},
+ {"int32", type::matrix::ElementType::INT32},
+ {"int64", type::matrix::ElementType::INT64},
+ {"float32", type::matrix::ElementType::FLOAT32},
+ {"float64", type::matrix::ElementType::FLOAT64}
};
auto o = std::make_shared<type::Matrix>(path);
@@ -353,11 +351,11 @@ namespace armarx::aron::typereader::xml
auto rows_str = util::GetAttributeWithDefault(node, constantes::ROWS_ATTRIBUTE_NAME, "4");
auto cols_str = util::GetAttributeWithDefault(node, constantes::COLS_ATTRIBUTE_NAME, "4");
- if (simox::alg::to_lower(rows_str) == constantes::WHATEVER_VALUE)
+ if (std::find(constantes::WHATEVER_VALUES.begin(), constantes::WHATEVER_VALUES.end(), simox::alg::to_lower(rows_str)) != constantes::WHATEVER_VALUES.end())
{
rows_str = "-1";
}
- if (simox::alg::to_lower(cols_str) == constantes::WHATEVER_VALUE)
+ if (std::find(constantes::WHATEVER_VALUES.begin(), constantes::WHATEVER_VALUES.end(), simox::alg::to_lower(cols_str)) != constantes::WHATEVER_VALUES.end())
{
cols_str = "-1";
}
@@ -383,8 +381,8 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::quaternion::ElementType> String2QuaternionType =
{
- {"float32", type::quaternion::ElementType::float32},
- {"float64", type::quaternion::ElementType::float64}
+ {"float32", type::quaternion::ElementType::FLOAT32},
+ {"float64", type::quaternion::ElementType::FLOAT64}
};
auto o = std::make_shared<type::Quaternion>(path);
@@ -409,8 +407,8 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::image::PixelType> String2PixelType =
{
- {"rgb24", type::image::PixelType::rgb24},
- {"depth32", type::image::PixelType::depth32}
+ {"rgb24", type::image::PixelType::RGB24},
+ {"depth32", type::image::PixelType::DEPTH32}
};
auto o = std::make_shared<type::Image>(path);
@@ -434,13 +432,13 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::pointcloud::VoxelType> String2VoxelType =
{
- {"pointxyz", type::pointcloud::VoxelType::PointXYZ},
- {"pointxyzi", type::pointcloud::VoxelType::PointXYZI},
- {"pointxyzl", type::pointcloud::VoxelType::PointXYZL},
- {"pointxyzrgb", type::pointcloud::VoxelType::PointXYZRGB},
- {"pointxyzrgbl", type::pointcloud::VoxelType::PointXYZRGBL},
- {"pointxyzrgba", type::pointcloud::VoxelType::PointXYZRGBA},
- {"pointxyzhsv", type::pointcloud::VoxelType::PointXYZHSV}
+ {"pointxyz", type::pointcloud::VoxelType::POINT_XYZ},
+ {"pointxyzi", type::pointcloud::VoxelType::POINT_XYZI},
+ {"pointxyzl", type::pointcloud::VoxelType::POINT_XYZL},
+ {"pointxyzrgb", type::pointcloud::VoxelType::POINT_XYZRGB},
+ {"pointxyzrgbl", type::pointcloud::VoxelType::POINT_XYZRGBL},
+ {"pointxyzrgba", type::pointcloud::VoxelType::POINT_XYZRGBA},
+ {"pointxyzhsv", type::pointcloud::VoxelType::POINT_XYZHSV}
};
auto o = std::make_shared<type::PointCloud>(path);
@@ -530,11 +528,6 @@ namespace armarx::aron::typereader::xml
return std::make_shared<type::Bool>(path);
}
- type::VariantPtr ReaderFactory::createTime(const RapidXmlReaderNode &node, const Path &path) const
- {
- return std::make_shared<type::DateTime>(path);
- }
-
type::VariantPtr ReaderFactory::createAnyObject(const RapidXmlReaderNode& node, const Path& path) const
{
return std::make_shared<type::AnyObject>(path);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
index a15c84116..814349d16 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
@@ -31,8 +31,8 @@
// ArmarX
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
@@ -83,7 +83,6 @@ namespace armarx::aron::typereader::xml
type::VariantPtr createDouble(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createString(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createBool(const RapidXmlReaderNode& node, const Path& path) const;
- type::VariantPtr createTime(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createAnyObject(const RapidXmlReaderNode& node, const Path& path) const;
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
index 92180e61e..3f7d947e0 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
@@ -31,7 +31,7 @@
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <RobotAPI/libraries/aron/core/typereader/xml/Data.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h>
#include <RobotAPI/libraries/aron/core/type/variant/Factory.h>
@@ -217,6 +217,12 @@ namespace armarx::aron::typereader::xml
}
// else path is absolute
+ // check if referred file is same as current file. If so, abort.
+ if (resolved_absolute_path == filePath)
+ {
+ return "";
+ }
+
// parse parent xml file and add objects to alreday known
Reader anotherReader;
anotherReader.parseFile(resolved_absolute_path);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
index da63cb5cd..e68615489 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
@@ -30,14 +30,14 @@
// Base Class
-#include <RobotAPI/libraries/aron/core/typereader/Reader.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/Reader.h>
// ArmarX
#include <SimoxUtility/xml.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
-#include <RobotAPI/libraries/aron/core/typereader/xml/Factory.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h>
namespace armarx::aron::typereader::xml
{
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp b/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp
deleted file mode 100644
index b1726ae05..000000000
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-// STD/STL
-
-
-// Header
-#include "AronCodeGenerator.h"
-
-namespace armarx
-{
- namespace aron
- {
- namespace codegenerator::cpp
- {
-
- }
- }
-}
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h b/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h
deleted file mode 100644
index 8783ca562..000000000
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX 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 General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @author Fabian Peller (fabian dot peller at kit dot edu)
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#pragma once
-
-// STD/STL
-#include <memory>
-#include <string>
-
-// ArmarX
-#include <RobotAPI/interface/aron.h>
-
-
-namespace armarx
-{
- namespace aron
- {
- namespace codegenerator::cpp
- {
- /* This is just a dummy class to create a target which depends on the aron code generator executable. */
- class AronCodeGenerator;
- typedef std::shared_ptr<AronCodeGenerator> AronCodeGeneratorPtr;
-
- class AronCodeGenerator
- {
- public:
- AronCodeGenerator() = default;
-
- private:
- };
- }
- }
-}
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt
deleted file mode 100644
index 588385597..000000000
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-set(LIB_NAME aroncodegeneration)
-
-armarx_component_set_name("${LIB_NAME}")
-armarx_set_target("Library: ${LIB_NAME}")
-
-
-set(LIBS
- aron
-)
-
-set(LIB_FILES
- AronCodeGenerator.cpp
-)
-
-set(LIB_HEADERS
- AronCodeGenerator.h
-)
-
-armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
-#add_dependencies("${LIB_NAME}" AronCodeGeneratorAppRun)
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index ab0f5bb86..14e5a0305 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -17,12 +17,12 @@ armarx_add_library(
json_conversions.h
aron_conversions/core.h
+ aron_conversions/stl.h
aron_conversions/packagepath.h
aron_conversions/framed.h
aron_conversions/time.h
aron_conversions/armarx.h
aron_conversions/simox.h
- aron_conversions/stl.h
aron_conversions/eigen.h
json_conversions/armarx.h
@@ -32,12 +32,12 @@ armarx_add_library(
SOURCES
aron_conversions/core.cpp
+ aron_conversions/stl.cpp
aron_conversions/packagepath.cpp
aron_conversions/framed.cpp
aron_conversions/time.cpp
aron_conversions/armarx.cpp
aron_conversions/simox.cpp
- aron_conversions/stl.cpp
aron_conversions/eigen.cpp
json_conversions/armarx.cpp
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions.h b/source/RobotAPI/libraries/aron/common/aron_conversions.h
index b771ef362..84804124d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions.h
@@ -1,8 +1,5 @@
#pragma once
-#include "aron_conversions/core.h"
-
#include "aron_conversions/armarx.h"
#include "aron_conversions/simox.h"
-#include "aron_conversions/stl.h"
#include "aron_conversions/eigen.h"
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
index 790714d9c..44426a551 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
@@ -1,2 +1 @@
#include "core.h"
-
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/core.h b/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
index bcc537a28..af62fb4fa 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
@@ -1,81 +1,12 @@
#pragma once
+// This file is just a legacy include file.
+// We moved the stl and core conversions to the aron library.
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
-namespace armarx::aron
+namespace armarx
{
- /**
- * Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs
- * (Business Objects) and back.
- *
- * To allow conversion between custom ARON and C++ types, declare two
- * functions in the namespace of the BO:
- *
- * @code
- * // aron_conversions.h
- *
- * namespace bo_namespace
- * {
- * void toAron(arondto::MyObject& dto, const MyObject& bo);
- * void fromAron(const arondto::MyObject& dto, MyObject& bo);
- * }
- * @endcode
- *
- * Note that the DTO always comes first, and the target object is
- * non-const.
- *
- * In the implementation,
- *
- *
- * @code
- * // aron_conversions.cpp
- *
- * #include "aron_conversions.h"
- * #include <Path/to/MyValue/aron_conversions.h>
- *
- * void bo_namespace::toAron(arondto::MyObject& dto, const MyObject& bo)
- * {
- * dto.name = bo.name;
- * toAron(dto.myValue, bo.myValue);
- * }
- *
- * void bo_namespace::fromAron(const arondto::MyObject& dto, MyObject& bo)
- * {
- * bo.name = dto.name;
- * fromAron(dto.myValue, bo.myValue);
- * }
- * @endcode
- */
- // Same type
- template <class T>
- void toAron(T& dto, const T& bo)
- {
- dto = bo;
- }
- template <class T>
- void fromAron(const T& dto, T& bo)
- {
- bo = dto;
- }
-
-
- // Generic return version
-
- template <class DtoT, class BoT>
- DtoT toAron(const BoT& bo)
- {
- DtoT dto;
- toAron(dto, bo);
- return dto;
- }
- template <class BoT, class DtoT>
- BoT fromAron(const DtoT& dto)
- {
- BoT bo;
- fromAron(dto, bo);
- return bo;
- }
-
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3ace8f400..e60f080c8 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -2,6 +2,8 @@
#include <Eigen/Geometry>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
namespace armarx::aron
{
using AronPose = Eigen::Matrix<float, 4, 4>;
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
index f6ad31338..f7c53ac77 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
@@ -1,5 +1,7 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h
index ed2e3f5ef..a5661de19 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h
@@ -1,5 +1,7 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
#include <ArmarXCore/core/PackagePath.h>
#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
index 5440ac1c6..68a7fada4 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
@@ -1,5 +1,7 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <SimoxUtility/shapes/OrientedBox.h>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
index 857d161ec..44426a551 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
@@ -1 +1 @@
-#include "stl.h"
+#include "core.h"
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
index 9a593f3c7..af62fb4fa 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
@@ -1,197 +1,12 @@
#pragma once
-#include <map>
-#include <memory>
-#include <optional>
-#include <vector>
+// This file is just a legacy include file.
+// We moved the stl and core conversions to the aron library.
-#include "core.h"
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
-
-namespace armarx::aron
+namespace armarx
{
- // std::unique_ptr
-
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
- {
- if (bo)
- {
- toAron(dto, *bo);
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
- {
- bo = std::make_unique<BoT>();
- fromAron(dto, *bo);
- }
-
-
- // std::optional
-
- template <class DtoT, class BoT>
- void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
- {
- if (bo.has_value())
- {
- dto = DtoT{};
- toAron(*dto, *bo);
- }
- else
- {
- dto = std::nullopt;
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
- {
- if (dto.has_value())
- {
- bo = BoT{};
- fromAron(*dto, *bo);
- }
- else
- {
- bo = std::nullopt;
- }
- }
-
- // Flag-controlled optional
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
- {
- dtoValid = boValid;
- if (boValid)
- {
- toAron(dto, bo);
- }
- else
- {
- dto = {};
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
- {
- boValid = dtoValid;
- if (dtoValid)
- {
- fromAron(dto, bo);
- }
- else
- {
- bo = {};
- }
- }
-
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
- {
- dtoValid = bo.has_value();
- if (dtoValid)
- {
- toAron(dto, *bo);
- }
- else
- {
- dto = {};
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
- {
- if (dtoValid)
- {
- bo = BoT{};
- fromAron(dto, *bo);
- }
- else
- {
- bo = std::nullopt;
- }
- }
-
- // Helper concept to avoid ambiguities
- template<typename DtoT, typename BoT>
- concept DtoAndBoAreSame = std::is_same<DtoT, BoT>::value;
-
-
- // std::vector
-
- template <class DtoT, class BoT>
- requires (!DtoAndBoAreSame<DtoT, BoT>)
- void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
- {
- dtos.clear();
- dtos.reserve(bos.size());
- for (const auto& bo : bos)
- {
- toAron(dtos.emplace_back(), bo);
- }
- }
- template <class DtoT, class BoT>
- requires (!DtoAndBoAreSame<DtoT, BoT>)
- void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
- {
- bos.clear();
- bos.reserve(dtos.size());
- for (const auto& dto : dtos)
- {
- fromAron(dto, bos.emplace_back());
- }
- }
-
- template <class DtoT, class BoT>
- requires (!DtoAndBoAreSame<DtoT, BoT>)
- std::vector<DtoT> toAron(const std::vector<BoT>& bos)
- {
- std::vector<DtoT> dtos;
- toAron(dtos, bos);
- return dtos;
- }
-
-
- // std::map
-
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
- void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap,
- const std::map<BoKeyT, BoValueT>& boMap)
- {
- dtoMap.clear();
- for (const auto& [boKey, boValue] : boMap)
- {
- DtoKeyT dtoKey;
- toAron(dtoKey, boKey);
- auto [it, _] = dtoMap.emplace(std::move(dtoKey), DtoValueT{});
- toAron(it->second, boValue);
- }
- }
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
- void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap,
- std::map<BoKeyT, BoValueT>& boMap)
- {
- boMap.clear();
- for (const auto& [dtoKey, dtoValue] : dtoMap)
- {
- BoKeyT boKey;
- fromAron(dtoKey, boKey);
- auto [it, _] = boMap.emplace(boKey, BoValueT{});
- fromAron(dtoValue, it->second);
- }
- }
-
-
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
- std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
- {
- std::map<DtoKeyT, DtoValueT> dtoMap;
- toAron(dtoMap, boMap);
- return dtoMap;
- }
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
index 97b674802..2ee681ca3 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
@@ -4,8 +4,7 @@
#include <ArmarXCore/core/time/ice_conversions.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
+#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
@@ -79,32 +78,24 @@ void armarx::toAron(arondto::Duration& dto, const Duration& bo)
void armarx::fromAron(const arondto::Frequency& dto, Frequency& bo)
{
- Duration cycleDuration;
- fromAron(dto.cycleDuration, cycleDuration);
- bo = Frequency(cycleDuration);
+ bo = Frequency(dto.cycleDuration);
}
void armarx::toAron(arondto::Frequency& dto, const Frequency& bo)
{
- arondto::Duration cycleDuration;
- toAron(cycleDuration, bo.toCycleDuration());
- dto.cycleDuration = cycleDuration;
+ dto.cycleDuration = bo.toCycleDuration();
}
void armarx::fromAron(const arondto::DateTime& dto, DateTime& bo)
{
- Duration timeSinceEpoch;
- fromAron(dto.timeSinceEpoch, timeSinceEpoch);
ClockType clockType;
fromAron(dto.clockType, clockType);
- bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
+ bo = DateTime(dto.timeSinceEpoch, clockType, dto.hostname);
}
void armarx::toAron(arondto::DateTime& dto, const DateTime& bo)
{
- arondto::Duration timeSinceEpoch;
- toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
- dto.timeSinceEpoch = timeSinceEpoch;
+ dto.timeSinceEpoch = bo.toDurationSinceEpoch();
arondto::ClockType clockType;
toAron(clockType, bo.clockType());
dto.clockType = clockType;
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.h b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
index 80ab36d7c..0ea9cb87a 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
@@ -1,9 +1,8 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <ArmarXCore/core/time_minimal.h>
-#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
-
namespace IceUtil
{
@@ -24,6 +23,14 @@ namespace IceUtil
}
namespace armarx
{
+ namespace arondto
+ {
+ class ClockType;
+ class Duration;
+ class Frequency;
+ class DateTime;
+ }
+
void fromAron(const arondto::ClockType& dto, ClockType& bo);
void toAron(arondto::ClockType& dto, const ClockType& bo);
diff --git a/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp b/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
index 6431732ee..3d4ba61b8 100644
--- a/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
+++ b/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
@@ -23,7 +23,7 @@
#include <ostream>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
template <class CustomTypeT>
diff --git a/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp b/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
index 0503f0132..6c66ae28f 100644
--- a/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
+++ b/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
@@ -26,8 +26,7 @@
#include <RobotAPI/Test.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <iostream>
diff --git a/source/RobotAPI/libraries/aron/common/util/object_finders.h b/source/RobotAPI/libraries/aron/common/util/object_finders.h
index ff67043de..879b2231c 100644
--- a/source/RobotAPI/libraries/aron/common/util/object_finders.h
+++ b/source/RobotAPI/libraries/aron/common/util/object_finders.h
@@ -27,7 +27,7 @@
#include <SimoxUtility/algorithm/string.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 54acbaea6..c26223773 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -10,7 +10,6 @@ set(LIBS
ArmarXCoreInterfaces
ArmarXCore
RobotAPIInterfaces
- cppgen
SimoxUtility
)
@@ -19,6 +18,8 @@ set(LIB_FILES
Exception.cpp
Path.cpp
+ aron_conversions.cpp
+
data/variant/Variant.cpp
data/variant/detail/SpecializedVariant.cpp
data/variant/detail/ContainerVariant.cpp
@@ -60,7 +61,6 @@ set(LIB_FILES
type/variant/primitive/Double.cpp
type/variant/primitive/String.cpp
type/variant/primitive/Bool.cpp
- type/variant/dto/DateTime.cpp
type/variant/any/AnyObject.cpp
type/variant/Factory.cpp
@@ -96,41 +96,6 @@ set(LIB_FILES
type/converter/Converter.cpp
type/converter/variant/VariantConverter.cpp
type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
-
- typereader/xml/Data.cpp
- typereader/xml/Factory.cpp
- typereader/xml/Reader.cpp
-
- codegenerator/codewriter/cpp/Writer.cpp
- codegenerator/codewriter/cpp/generator/Generator.cpp
- codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/DtoGenerator.cpp
- codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
- codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
- codegenerator/codewriter/cpp/generator/container/Dict.cpp
- codegenerator/codewriter/cpp/generator/container/List.cpp
- codegenerator/codewriter/cpp/generator/container/Object.cpp
- codegenerator/codewriter/cpp/generator/container/Tuple.cpp
- codegenerator/codewriter/cpp/generator/container/Pair.cpp
- codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
- codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
- codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
- codegenerator/codewriter/cpp/generator/primitive/Int.cpp
- codegenerator/codewriter/cpp/generator/primitive/Long.cpp
- codegenerator/codewriter/cpp/generator/primitive/Float.cpp
- codegenerator/codewriter/cpp/generator/primitive/Double.cpp
- codegenerator/codewriter/cpp/generator/primitive/String.cpp
- codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
- codegenerator/codewriter/cpp/generator/dto/DateTime.cpp
- codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
- codegenerator/codewriter/cpp/generator/Factory.cpp
)
set(LIB_HEADERS
@@ -138,6 +103,8 @@ set(LIB_HEADERS
Exception.h
Path.h
+ aron_conversions.h
+
data/variant/Variant.h
data/variant/detail/SpecializedVariant.h
data/variant/detail/ContainerVariant.h
@@ -189,8 +156,6 @@ set(LIB_HEADERS
type/variant/primitive/String.h
type/variant/primitive/Bool.h
type/variant/primitive/All.h
- type/variant/dto/DateTime.h
- type/variant/dto/All.h
type/variant/any/AnyObject.h
type/variant/any/All.h
type/variant/All.h
@@ -233,61 +198,6 @@ set(LIB_HEADERS
type/converter/Converter.h
type/converter/variant/VariantConverter.h
type/converter/nlohmannJSON/NlohmannJSONConverter.h
-
- typereader/helper/GenerateInfo.h
- typereader/helper/GenerateTypeInfo.h
- typereader/helper/GenerateIntEnumInfo.h
-
- typereader/Reader.h
- typereader/xml/Data.h
- typereader/xml/Factory.h
- typereader/xml/Reader.h
-
- codegenerator/helper/WriterInfo.h
- codegenerator/helper/ReaderInfo.h
-
- codegenerator/codewriter/CodeWriter.h
- codegenerator/codewriter/Factory.h
-
- codegenerator/codewriter/cpp/AronGeneratedClass.h
- codegenerator/codewriter/cpp/Writer.h
- codegenerator/codewriter/cpp/generator/Generator.h
- codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
- codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
- codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
- codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
- codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
- codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h
- codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
- codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
- codegenerator/codewriter/cpp/generator/toplevel/All.h
- codegenerator/codewriter/cpp/generator/container/Dict.h
- codegenerator/codewriter/cpp/generator/container/List.h
- codegenerator/codewriter/cpp/generator/container/Object.h
- codegenerator/codewriter/cpp/generator/container/Tuple.h
- codegenerator/codewriter/cpp/generator/container/Pair.h
- codegenerator/codewriter/cpp/generator/container/All.h
- codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
- codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
- codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
- codegenerator/codewriter/cpp/generator/ndarray/Image.h
- codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
- codegenerator/codewriter/cpp/generator/ndarray/All.h
- codegenerator/codewriter/cpp/generator/enum/IntEnum.h
- codegenerator/codewriter/cpp/generator/enum/All.h
- codegenerator/codewriter/cpp/generator/primitive/Int.h
- codegenerator/codewriter/cpp/generator/primitive/Long.h
- codegenerator/codewriter/cpp/generator/primitive/Float.h
- codegenerator/codewriter/cpp/generator/primitive/Double.h
- codegenerator/codewriter/cpp/generator/primitive/String.h
- codegenerator/codewriter/cpp/generator/primitive/Bool.h
- codegenerator/codewriter/cpp/generator/primitive/All.h
- codegenerator/codewriter/cpp/generator/dto/DateTime.h
- codegenerator/codewriter/cpp/generator/dto/All.h
- codegenerator/codewriter/cpp/generator/any/AnyObject.h
- codegenerator/codewriter/cpp/generator/any/All.h
- codegenerator/codewriter/cpp/generator/All.h
- codegenerator/codewriter/cpp/generator/Factory.h
)
diff --git a/source/RobotAPI/libraries/aron/core/Descriptor.h b/source/RobotAPI/libraries/aron/core/Descriptor.h
index f04379560..5b386f583 100644
--- a/source/RobotAPI/libraries/aron/core/Descriptor.h
+++ b/source/RobotAPI/libraries/aron/core/Descriptor.h
@@ -36,46 +36,6 @@
// ArmarX
#include <RobotAPI/interface/aron.h>
-
-/**
- * This file contains basic enums to distinguish aron::data and aron::types and utility functions to generate maps converting the neum to strings or vice versa.
- * Further, this file contains a conversion map from ice_ids to descriptors.
- *
- * Every data- or type-object has a descriptor, containing the correct enum for this object. All aron-variants must be either:
- * DATA:
- * - Dict
- * - List
- * - NDArray
- * - Int
- * - Long
- * - Float
- * - Double
- * - String
- * - Bool
- *
- * TYPE:
- * - Object
- * - Dict
- * - List
- * - Pair
- * - Tuple
- * - NDArray
- * - Matrix
- * - Quaternion
- * - Image
- * - Pointcloud
- * - Int Enum
- * - Int
- * - Long
- * - Float
- * - Double
- * - String
- * - Bool
- * - DateTime
- *
- * A variant should never have eUnknown as its internal type (The enums are const and only set on construction).
- * If you want to execute a specific function for a specific variant, please refer to the visitor implementation.
- */
namespace armarx::aron::conversion::util
{
template <class T1, class T2>
@@ -106,59 +66,57 @@ namespace armarx::aron::type
{
const std::vector<type::Maybe> AllMaybeTypes =
{
- type::Maybe::eNone,
- type::Maybe::eOptional,
- type::Maybe::eRawPointer,
- type::Maybe::eSharedPointer,
- type::Maybe::eUniquePointer
+ type::Maybe::NONE,
+ type::Maybe::OPTIONAL,
+ type::Maybe::RAW_PTR,
+ type::Maybe::SHARED_PTR,
+ type::Maybe::UNIQUE_PTR
};
enum class Descriptor
{
- eList,
- eObject,
- eTuple,
- ePair,
- eDict,
- eNDArray,
- eMatrix,
- eQuaternion,
- ePointCloud,
- eImage,
- eIntEnum,
- eInt,
- eLong,
- eFloat,
- eDouble,
- eString,
- eBool,
- eDateTime,
- eAnyObject,
- eUnknown = -1
+ LIST,
+ OBJECT,
+ TUPLE,
+ PAIR,
+ DICT,
+ NDARRAY,
+ MATRIX,
+ QUATERNION,
+ POINTCLOUD,
+ IMAGE,
+ INT_ENUM,
+ INT,
+ LONG,
+ FLOAT,
+ DOUBLE,
+ BOOL,
+ STRING,
+ ANY_OBJECT,
+ UNKNOWN = -1
};
const std::vector<type::Descriptor> AllDescriptors =
{
- Descriptor::eList,
- Descriptor::eObject,
- Descriptor::eTuple,
- Descriptor::ePair,
- Descriptor::eDict,
- Descriptor::eNDArray,
- Descriptor::eMatrix,
- Descriptor::eQuaternion,
- Descriptor::ePointCloud,
- Descriptor::eImage,
- Descriptor::eIntEnum,
- Descriptor::eInt,
- Descriptor::eLong,
- Descriptor::eFloat,
- Descriptor::eDouble,
- Descriptor::eString,
- Descriptor::eBool,
- Descriptor::eDateTime,
- Descriptor::eAnyObject,
- Descriptor::eUnknown
+ Descriptor::LIST,
+ Descriptor::OBJECT,
+ Descriptor::TUPLE,
+ Descriptor::PAIR,
+ Descriptor::DICT,
+ Descriptor::NDARRAY,
+ Descriptor::MATRIX,
+ Descriptor::QUATERNION,
+ Descriptor::POINTCLOUD,
+ Descriptor::IMAGE,
+ Descriptor::INT_ENUM,
+ Descriptor::INT,
+ Descriptor::LONG,
+ Descriptor::FLOAT,
+ Descriptor::DOUBLE,
+ Descriptor::BOOL,
+ Descriptor::STRING,
+ Descriptor::ANY_OBJECT,
+ Descriptor::UNKNOWN
};
namespace defaultconversion::string
@@ -166,37 +124,36 @@ namespace armarx::aron::type
// Maybe
const std::map<type::Maybe, std::string> Maybe2String =
{
- {Maybe::eNone, "armarx::aron::type::Maybe::eNone"},
- {Maybe::eRawPointer, "armarx::aron::type::Maybe::eRawPointer"},
- {Maybe::eSharedPointer, "armarx::aron::type::Maybe::eSharedPointer"},
- {Maybe::eUniquePointer, "armarx::aron::type::Maybe::eUniquePointer"},
- {Maybe::eOptional, "armarx::aron::type::Maybe::eOptional"}
+ {Maybe::NONE, "armarx::aron::type::Maybe::NONE"},
+ {Maybe::RAW_PTR, "armarx::aron::type::Maybe::RAW_PTR"},
+ {Maybe::SHARED_PTR, "armarx::aron::type::Maybe::SHARED_PTR"},
+ {Maybe::UNIQUE_PTR, "armarx::aron::type::Maybe::UNIQUE_PTR"},
+ {Maybe::OPTIONAL, "armarx::aron::type::Maybe::OPTIONAL"}
};
// Descriptor
const std::map<type::Descriptor, std::string> Descriptor2String =
{
- {Descriptor::eList, "armarx::aron::type::Descriptor::eList"},
- {Descriptor::eObject, "armarx::aron::type::Descriptor::eObject"},
- {Descriptor::eDict, "armarx::aron::type::Descriptor::eDict"},
- {Descriptor::ePair, "armarx::aron::type::Descriptor::ePair"},
- {Descriptor::eTuple, "armarx::aron::type::Descriptor::eTuple"},
- {Descriptor::eNDArray, "armarx::aron::type::Descriptor::eNDArray"},
- {Descriptor::eMatrix, "armarx::aron::type::Descriptor::eMatrix"},
- {Descriptor::eQuaternion, "armarx::aron::type::Descriptor::eQuaternion"},
- {Descriptor::eImage, "armarx::aron::type::Descriptor::eImage"},
- {Descriptor::ePointCloud, "armarx::aron::type::Descriptor::ePointCloud"},
- {Descriptor::eNDArray, "armarx::aron::type::Descriptor::eNDArray"},
- {Descriptor::eIntEnum, "armarx::aron::type::Descriptor::eIntEnum"},
- {Descriptor::eInt, "armarx::aron::type::Descriptor::eInt"},
- {Descriptor::eLong, "armarx::aron::type::Descriptor::eLong"},
- {Descriptor::eFloat, "armarx::aron::type::Descriptor::eFloat"},
- {Descriptor::eDouble, "armarx::aron::type::Descriptor::eDouble"},
- {Descriptor::eString, "armarx::aron::type::Descriptor::eString"},
- {Descriptor::eBool, "armarx::aron::type::Descriptor::eBool"},
- {Descriptor::eDateTime, "armarx::aron::type::Descriptor::eDateTime"},
- {Descriptor::eAnyObject, "armarx::aron::type::Descriptor::eAnyObject"},
- {Descriptor::eUnknown, "armarx::aron::type::Descriptor::eUnknown"}
+ {Descriptor::LIST, "armarx::aron::type::Descriptor::LIST"},
+ {Descriptor::OBJECT, "armarx::aron::type::Descriptor::OBJECT"},
+ {Descriptor::DICT, "armarx::aron::type::Descriptor::DICT"},
+ {Descriptor::PAIR, "armarx::aron::type::Descriptor::PAIR"},
+ {Descriptor::TUPLE, "armarx::aron::type::Descriptor::TUPLE"},
+ {Descriptor::NDARRAY, "armarx::aron::type::Descriptor::NDARRAY"},
+ {Descriptor::MATRIX, "armarx::aron::type::Descriptor::MATRIX"},
+ {Descriptor::QUATERNION, "armarx::aron::type::Descriptor::QUATERNION"},
+ {Descriptor::IMAGE, "armarx::aron::type::Descriptor::IMAGE"},
+ {Descriptor::POINTCLOUD, "armarx::aron::type::Descriptor::POINTCLOUD"},
+ {Descriptor::NDARRAY, "armarx::aron::type::Descriptor::NDARRAY"},
+ {Descriptor::INT_ENUM, "armarx::aron::type::Descriptor::INT_ENUM"},
+ {Descriptor::INT, "armarx::aron::type::Descriptor::INT"},
+ {Descriptor::LONG, "armarx::aron::type::Descriptor::LONG"},
+ {Descriptor::FLOAT, "armarx::aron::type::Descriptor::FLOAT"},
+ {Descriptor::DOUBLE, "armarx::aron::type::Descriptor::DOUBLE"},
+ {Descriptor::BOOL, "armarx::aron::type::Descriptor::BOOL"},
+ {Descriptor::STRING, "armarx::aron::type::Descriptor::STRING"},
+ {Descriptor::ANY_OBJECT, "armarx::aron::type::Descriptor::ANY_OBJECT"},
+ {Descriptor::UNKNOWN, "armarx::aron::type::Descriptor::UNKNOWN"}
};
}
@@ -204,25 +161,24 @@ namespace armarx::aron::type
{
// hash type
const std::map<size_t, Descriptor> TypeId2Descriptor = {
- {typeid(aron::type::dto::List).hash_code(), Descriptor::eList},
- {typeid(aron::type::dto::AronObject).hash_code(), Descriptor::eObject},
- {typeid(aron::type::dto::Tuple).hash_code(), Descriptor::eTuple},
- {typeid(aron::type::dto::Pair).hash_code(), Descriptor::ePair},
- {typeid(aron::type::dto::Dict).hash_code(), Descriptor::eDict},
- {typeid(aron::type::dto::NDArray).hash_code(), Descriptor::eNDArray},
- {typeid(aron::type::dto::Matrix).hash_code(), Descriptor::eMatrix},
- {typeid(aron::type::dto::Quaternion).hash_code(), Descriptor::eQuaternion},
- {typeid(aron::type::dto::PointCloud).hash_code(), Descriptor::ePointCloud},
- {typeid(aron::type::dto::Image).hash_code(), Descriptor::eImage},
- {typeid(aron::type::dto::IntEnum).hash_code(), Descriptor::eIntEnum},
- {typeid(aron::type::dto::AronInt).hash_code(), Descriptor::eInt},
- {typeid(aron::type::dto::AronFloat).hash_code(), Descriptor::eFloat},
- {typeid(aron::type::dto::AronLong).hash_code(), Descriptor::eLong},
- {typeid(aron::type::dto::AronDouble).hash_code(), Descriptor::eDouble},
- {typeid(aron::type::dto::AronString).hash_code(), Descriptor::eString},
- {typeid(aron::type::dto::AronBool).hash_code(), Descriptor::eBool},
- {typeid(aron::type::dto::AronDateTime).hash_code(), Descriptor::eDateTime},
- {typeid(aron::type::dto::AnyObject).hash_code(), Descriptor::eAnyObject}
+ {typeid(aron::type::dto::List).hash_code(), Descriptor::LIST},
+ {typeid(aron::type::dto::AronObject).hash_code(), Descriptor::OBJECT},
+ {typeid(aron::type::dto::Tuple).hash_code(), Descriptor::TUPLE},
+ {typeid(aron::type::dto::Pair).hash_code(), Descriptor::PAIR},
+ {typeid(aron::type::dto::Dict).hash_code(), Descriptor::DICT},
+ {typeid(aron::type::dto::NDArray).hash_code(), Descriptor::NDARRAY},
+ {typeid(aron::type::dto::Matrix).hash_code(), Descriptor::MATRIX},
+ {typeid(aron::type::dto::Quaternion).hash_code(), Descriptor::QUATERNION},
+ {typeid(aron::type::dto::PointCloud).hash_code(), Descriptor::POINTCLOUD},
+ {typeid(aron::type::dto::Image).hash_code(), Descriptor::IMAGE},
+ {typeid(aron::type::dto::IntEnum).hash_code(), Descriptor::INT_ENUM},
+ {typeid(aron::type::dto::AronInt).hash_code(), Descriptor::INT},
+ {typeid(aron::type::dto::AronLong).hash_code(), Descriptor::LONG},
+ {typeid(aron::type::dto::AronFloat).hash_code(), Descriptor::FLOAT},
+ {typeid(aron::type::dto::AronDouble).hash_code(), Descriptor::DOUBLE},
+ {typeid(aron::type::dto::AronString).hash_code(), Descriptor::STRING},
+ {typeid(aron::type::dto::AronBool).hash_code(), Descriptor::BOOL},
+ {typeid(aron::type::dto::AnyObject).hash_code(), Descriptor::ANY_OBJECT}
};
}
@@ -236,30 +192,30 @@ namespace armarx::aron::data
{
enum class Descriptor
{
- eList,
- eDict,
- eNDArray,
- eInt,
- eLong,
- eFloat,
- eDouble,
- eString,
- eBool,
- eUnknown = -1
+ LIST,
+ DICT,
+ NDARRAY,
+ INT,
+ LONG,
+ FLOAT,
+ DOUBLE,
+ STRING,
+ BOOL,
+ UNKNOWN = -1
};
const std::vector<data::Descriptor> AllDescriptors =
{
- Descriptor::eList,
- Descriptor::eDict,
- Descriptor::eNDArray,
- Descriptor::eInt,
- Descriptor::eLong,
- Descriptor::eFloat,
- Descriptor::eDouble,
- Descriptor::eString,
- Descriptor::eBool,
- Descriptor::eUnknown
+ Descriptor::LIST,
+ Descriptor::DICT,
+ Descriptor::NDARRAY,
+ Descriptor::INT,
+ Descriptor::LONG,
+ Descriptor::FLOAT,
+ Descriptor::DOUBLE,
+ Descriptor::STRING,
+ Descriptor::BOOL,
+ Descriptor::UNKNOWN
};
namespace defaultconversion::string
@@ -267,16 +223,16 @@ namespace armarx::aron::data
// Descriptor
const std::map<data::Descriptor, std::string> Descriptor2String =
{
- {Descriptor::eList, "armarx::aron::data::Descriptor::eList"},
- {Descriptor::eDict, "armarx::aron::data::Descriptor::eDict"},
- {Descriptor::eNDArray, "armarx::aron::data::Descriptor::eNDArray"},
- {Descriptor::eInt, "armarx::aron::data::Descriptor::eInt"},
- {Descriptor::eLong, "armarx::aron::data::Descriptor::eLong"},
- {Descriptor::eFloat, "armarx::aron::data::Descriptor::eFloat"},
- {Descriptor::eDouble, "armarx::aron::data::Descriptor::eDouble"},
- {Descriptor::eString, "armarx::aron::data::Descriptor::eString"},
- {Descriptor::eBool, "armarx::aron::data::Descriptor::eBool"},
- {Descriptor::eUnknown, "armarx::aron::data::Descriptor::eUnknown"}
+ {Descriptor::LIST, "armarx::aron::data::Descriptor::LIST"},
+ {Descriptor::DICT, "armarx::aron::data::Descriptor::DICT"},
+ {Descriptor::NDARRAY, "armarx::aron::data::Descriptor::NDARRAY"},
+ {Descriptor::INT, "armarx::aron::data::Descriptor::INT"},
+ {Descriptor::LONG, "armarx::aron::data::Descriptor::LONG"},
+ {Descriptor::FLOAT, "armarx::aron::data::Descriptor::FLOAT"},
+ {Descriptor::DOUBLE, "armarx::aron::data::Descriptor::DOUBLE"},
+ {Descriptor::STRING, "armarx::aron::data::Descriptor::STRING"},
+ {Descriptor::BOOL, "armarx::aron::data::Descriptor::BOOL"},
+ {Descriptor::UNKNOWN, "armarx::aron::data::Descriptor::UNKNOWN"}
};
}
@@ -284,15 +240,15 @@ namespace armarx::aron::data
{
// TypeID
const std::map<size_t, Descriptor> TypeId2Descriptor = {
- {typeid(aron::data::dto::List).hash_code(), Descriptor::eList},
- {typeid(aron::data::dto::Dict).hash_code(), Descriptor::eDict},
- {typeid(aron::data::dto::NDArray).hash_code(), Descriptor::eNDArray},
- {typeid(aron::data::dto::AronInt).hash_code(), Descriptor::eInt},
- {typeid(aron::data::dto::AronFloat).hash_code(), Descriptor::eFloat},
- {typeid(aron::data::dto::AronLong).hash_code(), Descriptor::eLong},
- {typeid(aron::data::dto::AronDouble).hash_code(), Descriptor::eDouble},
- {typeid(aron::data::dto::AronString).hash_code(), Descriptor::eString},
- {typeid(aron::data::dto::AronBool).hash_code(), Descriptor::eBool},
+ {typeid(aron::data::dto::List).hash_code(), Descriptor::LIST},
+ {typeid(aron::data::dto::Dict).hash_code(), Descriptor::DICT},
+ {typeid(aron::data::dto::NDArray).hash_code(), Descriptor::NDARRAY},
+ {typeid(aron::data::dto::AronInt).hash_code(), Descriptor::INT},
+ {typeid(aron::data::dto::AronFloat).hash_code(), Descriptor::FLOAT},
+ {typeid(aron::data::dto::AronLong).hash_code(), Descriptor::LONG},
+ {typeid(aron::data::dto::AronDouble).hash_code(), Descriptor::DOUBLE},
+ {typeid(aron::data::dto::AronString).hash_code(), Descriptor::STRING},
+ {typeid(aron::data::dto::AronBool).hash_code(), Descriptor::BOOL},
};
}
@@ -303,48 +259,46 @@ namespace armarx::aron::data
namespace defaultconversion
{
+ // Useful if data is present but no type information. Try to infer type from data.
const std::map<Descriptor, aron::type::Descriptor> Data2TypeDescriptor = {
- {Descriptor::eList, aron::type::Descriptor::eList},
- {Descriptor::eDict, aron::type::Descriptor::eDict},
- {Descriptor::eNDArray, aron::type::Descriptor::eNDArray},
- {Descriptor::eInt, aron::type::Descriptor::eInt},
- {Descriptor::eFloat, aron::type::Descriptor::eFloat},
- {Descriptor::eLong, aron::type::Descriptor::eLong},
- {Descriptor::eDouble, aron::type::Descriptor::eDouble},
- {Descriptor::eString, aron::type::Descriptor::eString},
- {Descriptor::eBool, aron::type::Descriptor::eBool},
- {Descriptor::eUnknown, aron::type::Descriptor::eUnknown}
+ {Descriptor::LIST, aron::type::Descriptor::LIST},
+ {Descriptor::DICT, aron::type::Descriptor::DICT},
+ {Descriptor::NDARRAY, aron::type::Descriptor::NDARRAY},
+ {Descriptor::INT, aron::type::Descriptor::INT},
+ {Descriptor::FLOAT, aron::type::Descriptor::FLOAT},
+ {Descriptor::LONG, aron::type::Descriptor::LONG},
+ {Descriptor::DOUBLE, aron::type::Descriptor::DOUBLE},
+ {Descriptor::STRING, aron::type::Descriptor::STRING},
+ {Descriptor::BOOL, aron::type::Descriptor::BOOL},
+ {Descriptor::UNKNOWN, aron::type::Descriptor::UNKNOWN}
};
const std::map<aron::type::Descriptor, Descriptor> Type2DataDescriptor = {
// containers
- {aron::type::Descriptor::eList, Descriptor::eList},
- {aron::type::Descriptor::eObject, Descriptor::eDict},
- {aron::type::Descriptor::eTuple, Descriptor::eList},
- {aron::type::Descriptor::ePair, Descriptor::eList},
- {aron::type::Descriptor::eDict, Descriptor::eDict},
-
- // everything which gets an object
- {aron::type::Descriptor::eDateTime, Descriptor::eDict},
+ {aron::type::Descriptor::LIST, Descriptor::LIST},
+ {aron::type::Descriptor::OBJECT, Descriptor::DICT},
+ {aron::type::Descriptor::TUPLE, Descriptor::LIST},
+ {aron::type::Descriptor::PAIR, Descriptor::LIST},
+ {aron::type::Descriptor::DICT, Descriptor::DICT},
// everything which gets an ndarray
- {aron::type::Descriptor::eNDArray, Descriptor::eNDArray},
- {aron::type::Descriptor::eMatrix, Descriptor::eNDArray},
- {aron::type::Descriptor::eQuaternion, Descriptor::eNDArray},
- {aron::type::Descriptor::ePointCloud, Descriptor::eNDArray},
- {aron::type::Descriptor::eImage, Descriptor::eNDArray},
+ {aron::type::Descriptor::NDARRAY, Descriptor::NDARRAY},
+ {aron::type::Descriptor::MATRIX, Descriptor::NDARRAY},
+ {aron::type::Descriptor::QUATERNION, Descriptor::NDARRAY},
+ {aron::type::Descriptor::POINTCLOUD, Descriptor::NDARRAY},
+ {aron::type::Descriptor::IMAGE, Descriptor::NDARRAY},
// enums
- {aron::type::Descriptor::eIntEnum, Descriptor::eInt},
+ {aron::type::Descriptor::INT_ENUM, Descriptor::INT},
// primitives
- {aron::type::Descriptor::eInt, Descriptor::eInt},
- {aron::type::Descriptor::eLong, Descriptor::eLong},
- {aron::type::Descriptor::eFloat, Descriptor::eFloat},
- {aron::type::Descriptor::eDouble, Descriptor::eDouble},
- {aron::type::Descriptor::eString, Descriptor::eString},
- {aron::type::Descriptor::eBool, Descriptor::eBool},
- {aron::type::Descriptor::eUnknown, Descriptor::eUnknown},
+ {aron::type::Descriptor::INT, Descriptor::INT},
+ {aron::type::Descriptor::LONG, Descriptor::LONG},
+ {aron::type::Descriptor::FLOAT, Descriptor::FLOAT},
+ {aron::type::Descriptor::DOUBLE, Descriptor::DOUBLE},
+ {aron::type::Descriptor::STRING, Descriptor::STRING},
+ {aron::type::Descriptor::BOOL, Descriptor::BOOL},
+ {aron::type::Descriptor::UNKNOWN, Descriptor::UNKNOWN},
};
}
}
diff --git a/source/RobotAPI/libraries/aron/core/Path.cpp b/source/RobotAPI/libraries/aron/core/Path.cpp
index bcc51b5d3..8218b431b 100644
--- a/source/RobotAPI/libraries/aron/core/Path.cpp
+++ b/source/RobotAPI/libraries/aron/core/Path.cpp
@@ -33,7 +33,6 @@ namespace armarx::aron
rootIdentifier("_ARON"),
delimeter("->")
{
-
}
Path::Path(const std::vector<std::string>& p) :
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.cpp b/source/RobotAPI/libraries/aron/core/aron_conversions.cpp
new file mode 100644
index 000000000..add7a1803
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.cpp
@@ -0,0 +1,6 @@
+#include "aron_conversions.h"
+
+namespace armarx::aron
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.h b/source/RobotAPI/libraries/aron/core/aron_conversions.h
new file mode 100644
index 000000000..3e454465e
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.h
@@ -0,0 +1,391 @@
+#pragma once
+
+#include <map>
+#include <memory>
+#include <optional>
+#include <vector>
+
+namespace armarx::aron
+{
+
+ /**
+ * Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs
+ * (Business Objects) and back.
+ *
+ * To allow conversion between custom ARON and C++ types, declare two
+ * functions in the namespace of the BO:
+ *
+ * @code
+ * // aron_conversions.h
+ *
+ * namespace bo_namespace
+ * {
+ * void toAron(arondto::MyObject& dto, const MyObject& bo);
+ * void fromAron(const arondto::MyObject& dto, MyObject& bo);
+ * }
+ * @endcode
+ *
+ * Note that the DTO always comes first, and the target object is
+ * non-const.
+ *
+ * In the implementation,
+ *
+ *
+ * @code
+ * // aron_conversions.cpp
+ *
+ * #include "aron_conversions.h"
+ * #include <Path/to/MyValue/aron_conversions.h>
+ *
+ * void bo_namespace::toAron(arondto::MyObject& dto, const MyObject& bo)
+ * {
+ * dto.name = bo.name;
+ * toAron(dto.myValue, bo.myValue);
+ * }
+ *
+ * void bo_namespace::fromAron(const arondto::MyObject& dto, MyObject& bo)
+ * {
+ * bo.name = dto.name;
+ * fromAron(dto.myValue, bo.myValue);
+ * }
+ * @endcode
+ */
+
+ // Same type
+ template <class T>
+ void toAron(T& dto, const T& bo)
+ {
+ dto = bo;
+ }
+ template <class T>
+ void fromAron(const T& dto, T& bo)
+ {
+ bo = dto;
+ }
+
+
+ // Generic return version
+
+ template <class DtoT, class BoT>
+ DtoT toAron(const BoT& bo)
+ {
+ DtoT dto;
+ toAron(dto, bo);
+ return dto;
+ }
+ template <class BoT, class DtoT>
+ BoT fromAron(const DtoT& dto)
+ {
+ BoT bo;
+ fromAron(dto, bo);
+ return bo;
+ }
+
+
+
+
+
+
+
+ // std::unique_ptr
+
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
+ {
+ if (bo)
+ {
+ toAron(dto, *bo);
+ }
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
+ {
+ bo = std::make_unique<BoT>();
+ fromAron(dto, *bo);
+ }
+
+
+ // std::optional
+
+ template <class DtoT, class BoT>
+ void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
+ {
+ if (bo.has_value())
+ {
+ dto = DtoT{};
+ toAron(*dto, *bo);
+ }
+ else
+ {
+ dto = std::nullopt;
+ }
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
+ {
+ if (dto.has_value())
+ {
+ bo = BoT{};
+ fromAron(*dto, *bo);
+ }
+ else
+ {
+ bo = std::nullopt;
+ }
+ }
+
+ // Flag-controlled optional
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
+ {
+ dtoValid = boValid;
+ if (boValid)
+ {
+ toAron(dto, bo);
+ }
+ else
+ {
+ dto = {};
+ }
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
+ {
+ boValid = dtoValid;
+ if (dtoValid)
+ {
+ fromAron(dto, bo);
+ }
+ else
+ {
+ bo = {};
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
+ {
+ dtoValid = bo.has_value();
+ if (dtoValid)
+ {
+ toAron(dto, *bo);
+ }
+ else
+ {
+ dto = {};
+ }
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
+ {
+ if (dtoValid)
+ {
+ bo = BoT{};
+ fromAron(dto, *bo);
+ }
+ else
+ {
+ bo = std::nullopt;
+ }
+ }
+
+ // Helper concept to avoid ambiguities
+ template<typename DtoT, typename BoT>
+ concept DtoAndBoAreSame = std::is_same<DtoT, BoT>::value;
+
+
+ // std::vector
+
+ template <class DtoT, class BoT>
+ requires (!DtoAndBoAreSame<DtoT, BoT>)
+ void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
+ {
+ dtos.clear();
+ dtos.reserve(bos.size());
+ for (const auto& bo : bos)
+ {
+ toAron(dtos.emplace_back(), bo);
+ }
+ }
+ template <class DtoT, class BoT>
+ requires (!DtoAndBoAreSame<DtoT, BoT>)
+ void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
+ {
+ bos.clear();
+ bos.reserve(dtos.size());
+ for (const auto& dto : dtos)
+ {
+ fromAron(dto, bos.emplace_back());
+ }
+ }
+
+ template <class DtoT, class BoT>
+ requires (!DtoAndBoAreSame<DtoT, BoT>)
+ std::vector<DtoT> toAron(const std::vector<BoT>& bos)
+ {
+ std::vector<DtoT> dtos;
+ toAron(dtos, bos);
+ return dtos;
+ }
+
+
+ // std::map
+
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap,
+ const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ dtoMap.clear();
+ for (const auto& [boKey, boValue] : boMap)
+ {
+ DtoKeyT dtoKey;
+ toAron(dtoKey, boKey);
+ auto [it, _] = dtoMap.emplace(std::move(dtoKey), DtoValueT{});
+ toAron(it->second, boValue);
+ }
+ }
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap,
+ std::map<BoKeyT, BoValueT>& boMap)
+ {
+ boMap.clear();
+ for (const auto& [dtoKey, dtoValue] : dtoMap)
+ {
+ BoKeyT boKey;
+ fromAron(dtoKey, boKey);
+ auto [it, _] = boMap.emplace(boKey, BoValueT{});
+ fromAron(dtoValue, it->second);
+ }
+ }
+
+
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ std::map<DtoKeyT, DtoValueT> dtoMap;
+ toAron(dtoMap, boMap);
+ return dtoMap;
+ }
+}
+
+namespace armarx
+{
+ // Same type
+ template <class T>
+ void toAron(T& dto, const T& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class T>
+ void fromAron(const T& dto, T& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+
+ // Generic return version
+ template <class DtoT, class BoT>
+ DtoT toAron(const BoT& bo)
+ {
+ return armarx::aron::toAron<DtoT, BoT>(bo);
+ }
+ template <class BoT, class DtoT>
+ BoT fromAron(const DtoT& dto)
+ {
+ return armarx::aron::fromAron<BoT, DtoT>(dto);
+ }
+
+ // std::unique_ptr
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+ // std::optional
+ template <class DtoT, class BoT>
+ void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+ // Flag-controlled optional
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
+ {
+ armarx::aron::toAron(dto, dtoValid, bo, boValid);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
+ {
+ armarx::aron::fromAron(dto, dtoValid, bo, boValid);
+ }
+
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, dtoValid, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, dtoValid, bo);
+ }
+
+ // std::vector
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
+ {
+ armarx::aron::toAron(dtos, bos);
+ }
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
+ {
+ armarx::aron::fromAron(dtos, bos);
+ }
+
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ std::vector<DtoT> toAron(const std::vector<BoT>& bos)
+ {
+ return armarx::aron::toAron<DtoT, BoT>(bos);
+ }
+
+
+ // std::map
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap, const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::toAron(dtoMap, boMap);
+ }
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap, std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::fromAron(dtoMap, boMap);
+ }
+
+
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::toAron<DtoKeyT, DtoValueT, BoKeyT, BoValueT>(boMap);
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp
deleted file mode 100644
index 65a7eb0aa..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-// STD/STL
-
-// Header
-#include "Factory.h"
-
-// ArmarX
-#include "All.h"
-#include "enum/All.h"
-
-namespace armarx::aron::codegenerator::cpp
-{
- // Access method
- std::unique_ptr<Generator> GeneratorFactory::create(const type::Variant& n, const Path& path) const
- {
- auto desc = n.getDescriptor();
- switch(desc)
- {
- case type::Descriptor::eList: return std::make_unique<generator::List>(dynamic_cast<const type::List&>(n));
- case type::Descriptor::eDict: return std::make_unique<generator::Dict>(dynamic_cast<const type::Dict&>(n));
- case type::Descriptor::eObject: return std::make_unique<generator::Object>(dynamic_cast<const type::Object&>(n));
- case type::Descriptor::eTuple: return std::make_unique<generator::Tuple>(dynamic_cast<const type::Tuple&>(n));
- case type::Descriptor::ePair: return std::make_unique<generator::Pair>(dynamic_cast<const type::Pair&>(n));
- case type::Descriptor::eNDArray: return std::make_unique<generator::NDArray>(dynamic_cast<const type::NDArray&>(n));
- case type::Descriptor::eMatrix: return std::make_unique<generator::Matrix>(dynamic_cast<const type::Matrix&>(n));
- case type::Descriptor::eQuaternion: return std::make_unique<generator::Quaternion>(dynamic_cast<const type::Quaternion&>(n));
- case type::Descriptor::eImage: return std::make_unique<generator::Image>(dynamic_cast<const type::Image&>(n));
- case type::Descriptor::ePointCloud: return std::make_unique<generator::PointCloud>(dynamic_cast<const type::PointCloud&>(n));
- case type::Descriptor::eIntEnum: return std::make_unique<generator::IntEnum>(dynamic_cast<const type::IntEnum&>(n));
- case type::Descriptor::eInt: return std::make_unique<generator::Int>(dynamic_cast<const type::Int&>(n));
- case type::Descriptor::eLong: return std::make_unique<generator::Long>(dynamic_cast<const type::Long&>(n));
- case type::Descriptor::eFloat: return std::make_unique<generator::Float>(dynamic_cast<const type::Float&>(n));
- case type::Descriptor::eDouble: return std::make_unique<generator::Double>(dynamic_cast<const type::Double&>(n));
- case type::Descriptor::eString: return std::make_unique<generator::String>(dynamic_cast<const type::String&>(n));
- case type::Descriptor::eBool: return std::make_unique<generator::Bool>(dynamic_cast<const type::Bool&>(n));
- case type::Descriptor::eDateTime: return std::make_unique<generator::DateTime>(dynamic_cast<const type::DateTime&>(n));
- case type::Descriptor::eAnyObject: return std::make_unique<generator::AnyObject>(dynamic_cast<const type::AnyObject&>(n));
- case type::Descriptor::eUnknown: break;
- }
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Cannot create a generator", std::to_string((int) desc), path);
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp
deleted file mode 100644
index e4cb33a24..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-// Header
-#include "Object.h"
-
-#include <SimoxUtility/meta/type_name.h>
-#include <SimoxUtility/algorithm/vector.hpp>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- // constructors
- Object::Object(const type::Object& e) :
- detail::ContainerGenerator<type::Object, Object>(
- e.getObjectNameWithTemplateInstantiations(),
- e.getObjectNameWithTemplates(),
- simox::meta::get_type_name<data::dto::Dict>(),
- simox::meta::get_type_name<type::dto::AronObject>(), e)
- {
- }
-
-
- std::vector<std::string> Object::getRequiredIncludes() const
- {
- std::vector<std::string> ret;
- for (const auto& [key, child] : type.getMemberTypes())
- {
- (void) key;
- auto child_s = FromAronType(*child);
- ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
- }
- return ret;
- }
-
- CppBlockPtr Object::getResetSoftBlock(const std::string& cppAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + nextEl() + "resetSoft();");
- return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Object::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- std::vector<std::string> templatesQuoted;
- for (const auto& t : type.getTemplateInstantiations())
- {
- templatesQuoted.push_back("\"" + t + "\"");
- }
-
- b->addLine("auto " + variantAccessor + " = " + getInstantiatedCppTypename() + "::writeType(" + ARON_WRITER_ACCESSOR + ", " +
- "{" + simox::alg::join(templatesQuoted, ", ") + "}, " +
- conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return b;
- }
-
- CppBlockPtr Object::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + cppAccessor + nextEl() + "write(" + ARON_WRITER_ACCESSOR + ", "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Object::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- if (const auto reset = resolveMaybeGenerator(cppAccessor); !reset.empty())
- {
- block_if_data->addLine(reset);
- }
- block_if_data->addLine(cppAccessor + nextEl() + "read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + "); // of " + cppAccessor);
- return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
deleted file mode 100644
index 04e3b2b79..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include "SpecializedGenerator.h"
-
-#include <string>
-
-
-namespace armarx::aron::codegenerator::cpp::generator::detail
-{
- template<typename typeT, typename DerivedT>
- class AnyGenerator :
- public SpecializedGeneratorBase<typeT, DerivedT>
- {
- public:
- using SpecializedGeneratorBase<typeT, DerivedT>::SpecializedGeneratorBase;
- virtual ~AnyGenerator() = default;
-
-
- std::vector<std::string> getRequiredIncludes() const override
- {
- return {"<RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>"};
- }
-
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override
- {
- auto block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
- variantAccessor = Generator::ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = armarx::aron::data::readAndWrite<armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
- return block_if_data;
- }
-
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override
- {
- auto block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
-
- block_if_data->addLine(cppAccessor + " = armarx::aron::data::Dict::DynamicCastAndCheck(armarx::aron::data::readAndWrite<aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
- return block_if_data;
- }
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.cpp
deleted file mode 100644
index 5c1cbccd1..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-// Header
-#include "DtoGenerator.h"
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/All.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/All.h
deleted file mode 100644
index 2641bc405..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/All.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once
-
-#include "DateTime.h"
-
-namespace {
-
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.cpp
deleted file mode 100644
index 58586efe4..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include "DateTime.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- /* constructors */
- DateTime::DateTime(const type::DateTime& e) :
- detail::DtoGenerator<type::DateTime, DateTime>(
- "armarx::core::time::DateTime",
- "armarx::core::time::DateTime",
- simox::meta::get_type_name<data::dto::Dict>(),
- simox::meta::get_type_name<type::dto::AronDateTime>(),
- e)
- {
- }
-
- /* virtual implementations */
- std::vector<std::string> DateTime::getRequiredIncludes() const
- {
- return {"<RobotAPI/libraries/aron/common/aron_conversions/time.h>", "<ArmarXCore/core/time.h>", "<ArmarXCore/interface/core/time.h>"};
- }
-
- CppBlockPtr DateTime::getWriteTypeBlock(const std::string& typeAccessor, const std::string& accessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(accessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeDateTime(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + typeAccessor);
- return b;
- }
-
- CppBlockPtr DateTime::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string tmp = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_timeTmp";
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine("auto " + tmp + " = armarx::arondto::DateTime();");
- block_if_data->addLine("armarx::toAron(" + tmp + ", " + resolved_accessor + ");");
- block_if_data->addLine(variantAccessor + " = " + tmp + ".write(" + ARON_WRITER_ACCESSOR + ", "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
-
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr DateTime::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
- std::string tmp = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_timeTmp";
-
- block_if_data->addLine("auto " + tmp + " = armarx::arondto::DateTime();");
- block_if_data->addLine(tmp + ".read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + "); // of " + cppAccessor);
- block_if_data->addLine("armarx::fromAron(" + tmp + ", " + resolved_accessor + ");");
- return resolveMaybeReadBlock(block_if_data, cppAccessor, cppAccessor);
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.h
deleted file mode 100644
index d81031480..000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/dto/DateTime.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/DtoGenerator.h>
-#include <RobotAPI/libraries/aron/core/type/variant/dto/DateTime.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- class DateTime :
- public detail::DtoGenerator<type::DateTime, DateTime>
- {
- public:
- /* constructors */
- DateTime(const type::DateTime& e);
- virtual ~DateTime() = default;
-
- /* virtual implementations */
- std::vector<std::string> getRequiredIncludes() const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h b/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
index 0506a1326..c9348cf61 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
@@ -60,74 +60,74 @@ namespace armarx::aron::data::rw::json
namespace conversion
{
const std::map<data::Descriptor, std::string> Descriptor2String = {
- {data::Descriptor::eDict, rw::json::constantes::DICT_TYPENAME_SLUG},
- {data::Descriptor::eList, rw::json::constantes::LIST_TYPENAME_SLUG},
- {data::Descriptor::eNDArray, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
- {data::Descriptor::eInt, rw::json::constantes::INT_TYPENAME_SLUG},
- {data::Descriptor::eLong, rw::json::constantes::LONG_TYPENAME_SLUG},
- {data::Descriptor::eFloat, rw::json::constantes::FLOAT_TYPENAME_SLUG},
- {data::Descriptor::eDouble, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
- {data::Descriptor::eBool, rw::json::constantes::BOOL_TYPENAME_SLUG},
- {data::Descriptor::eString, rw::json::constantes::STRING_TYPENAME_SLUG}
+ {data::Descriptor::DICT, rw::json::constantes::DICT_TYPENAME_SLUG},
+ {data::Descriptor::LIST, rw::json::constantes::LIST_TYPENAME_SLUG},
+ {data::Descriptor::NDARRAY, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
+ {data::Descriptor::INT, rw::json::constantes::INT_TYPENAME_SLUG},
+ {data::Descriptor::LONG, rw::json::constantes::LONG_TYPENAME_SLUG},
+ {data::Descriptor::FLOAT, rw::json::constantes::FLOAT_TYPENAME_SLUG},
+ {data::Descriptor::DOUBLE, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
+ {data::Descriptor::BOOL, rw::json::constantes::BOOL_TYPENAME_SLUG},
+ {data::Descriptor::STRING, rw::json::constantes::STRING_TYPENAME_SLUG}
};
const auto String2Descriptor = aron::conversion::util::InvertMap(Descriptor2String);
const std::map<type::Maybe, std::string> Maybe2String =
{
- {type::Maybe::eNone, "type::maybe::none"},
- {type::Maybe::eOptional, "type::maybe::optional"},
- {type::Maybe::eRawPointer, "type::maybe::raw_ptr"},
- {type::Maybe::eSharedPointer, "type::maybe::shared_ptr"},
- {type::Maybe::eUniquePointer, "type::maybe::unique_ptr"}
+ {type::Maybe::NONE, "type::maybe::NONE"},
+ {type::Maybe::OPTIONAL, "type::maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "type::maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "type::maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "type::maybe::UNIQUE_PTR"}
};
const auto String2Maybe = aron::conversion::util::InvertMap(Maybe2String);
const std::map<type::ndarray::ElementType, std::string> NDArrayType2String =
{
- {type::ndarray::ElementType::int8, "type::ndarray::int8"},
- {type::ndarray::ElementType::int16, "type::ndarray::int16"},
- {type::ndarray::ElementType::int32, "type::ndarray::int32"},
- {type::ndarray::ElementType::uint8, "type::ndarray::uint8"},
- {type::ndarray::ElementType::uint16, "type::ndarray::uint16"},
- {type::ndarray::ElementType::uint32, "type::ndarray::uint32"},
- {type::ndarray::ElementType::float32, "type::ndarray::float32"},
- {type::ndarray::ElementType::float64, "type::ndarray::float64"}
+ {type::ndarray::ElementType::INT8, "type::ndarray::INT8"},
+ {type::ndarray::ElementType::INT16, "type::ndarray::INT16"},
+ {type::ndarray::ElementType::INT32, "type::ndarray::INT32"},
+ {type::ndarray::ElementType::UINT8, "type::ndarray::UINT8"},
+ {type::ndarray::ElementType::UINT16, "type::ndarray::UINT16"},
+ {type::ndarray::ElementType::UINT32, "type::ndarray::UINT32"},
+ {type::ndarray::ElementType::FLOAT32, "type::ndarray::FLOAT32"},
+ {type::ndarray::ElementType::FLOAT64, "type::ndarray::FLOAT64"}
};
const auto String2NDArrayType = aron::conversion::util::InvertMap(NDArrayType2String);
const std::map<type::matrix::ElementType, std::string> MatrixType2String =
{
- {type::matrix::ElementType::int16, "type::matrix::int16"},
- {type::matrix::ElementType::int32, "type::matrix::int32"},
- {type::matrix::ElementType::int64, "type::matrix::int64"},
- {type::matrix::ElementType::float32, "type::matrix::float32"},
- {type::matrix::ElementType::float64, "type::matrix::float64"}
+ {type::matrix::ElementType::INT16, "type::matrix::INT16"},
+ {type::matrix::ElementType::INT32, "type::matrix::INT32"},
+ {type::matrix::ElementType::INT64, "type::matrix::INT64"},
+ {type::matrix::ElementType::FLOAT32, "type::matrix::FLOAT32"},
+ {type::matrix::ElementType::FLOAT64, "type::matrix::FLOAT64"}
};
const auto String2MatrixType = aron::conversion::util::InvertMap(MatrixType2String);
const std::map<type::quaternion::ElementType, std::string> QuaternionType2String =
{
- {type::quaternion::ElementType::float32, "type::quaternion::float32"},
- {type::quaternion::ElementType::float64, "type::quaternion::float64"}
+ {type::quaternion::ElementType::FLOAT32, "type::quaternion::FLOAT32"},
+ {type::quaternion::ElementType::FLOAT64, "type::quaternion::FLOAT64"}
};
const auto String2QuaternionType = aron::conversion::util::InvertMap(QuaternionType2String);
const std::map<type::image::PixelType, std::string> PixelType2String =
{
- {type::image::PixelType::rgb24, "type::image::rgb24"},
- {type::image::PixelType::depth32, "type::image::depth32"}
+ {type::image::PixelType::RGB24, "type::image::RGB24"},
+ {type::image::PixelType::DEPTH32, "type::image::DEPTH32"}
};
const auto String2PixelType = aron::conversion::util::InvertMap(PixelType2String);
const std::map<type::pointcloud::VoxelType, std::string> VoxelType2String =
{
- {type::pointcloud::VoxelType::PointXYZ, "type::pointcloud::pointxyz"},
- {type::pointcloud::VoxelType::PointXYZI, "type::pointcloud::pointxyzi"},
- {type::pointcloud::VoxelType::PointXYZL, "type::pointcloud::pointxyzl"},
- {type::pointcloud::VoxelType::PointXYZRGB, "type::pointcloud::pointxyzrgb"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "type::pointcloud::pointxyzrgba"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "type::pointcloud::pointxyzrgbl"},
- {type::pointcloud::VoxelType::PointXYZHSV, "type::pointcloud::pointxyzhsv"}
+ {type::pointcloud::VoxelType::POINT_XYZ, "type::pointcloud::POINT_XYZ"},
+ {type::pointcloud::VoxelType::POINT_XYZI, "type::pointcloud::POINT_XYZI"},
+ {type::pointcloud::VoxelType::POINT_XYZL, "type::pointcloud::POINT_XYZL"},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, "type::pointcloud::POINT_XYZRGB"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, "type::pointcloud::POINT_XYZRGBA"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, "type::pointcloud::POINT_XYZRGBL"},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, "type::pointcloud::POINT_XYZHSV"}
};
const auto String2VoxelType = aron::conversion::util::InvertMap(VoxelType2String);
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
index c228a449d..f458e3d99 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
@@ -44,16 +44,16 @@ namespace armarx::aron::data
auto descriptor = data::Aron2Descriptor(*aron);
switch(descriptor)
{
- case data::Descriptor::eList: return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
- case data::Descriptor::eDict: return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
- case data::Descriptor::eNDArray: return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron), path);
- case data::Descriptor::eInt: return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
- case data::Descriptor::eLong: return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron), path);
- case data::Descriptor::eFloat: return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron), path);
- case data::Descriptor::eDouble: return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron), path);
- case data::Descriptor::eString: return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron), path);
- case data::Descriptor::eBool: return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron), path);
- case data::Descriptor::eUnknown: break;
+ case data::Descriptor::LIST: return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
+ case data::Descriptor::DICT: return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
+ case data::Descriptor::NDARRAY: return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron), path);
+ case data::Descriptor::INT: return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
+ case data::Descriptor::LONG: return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron), path);
+ case data::Descriptor::FLOAT: return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron), path);
+ case data::Descriptor::DOUBLE: return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron), path);
+ case data::Descriptor::STRING: return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron), path);
+ case data::Descriptor::BOOL: return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron), path);
+ case data::Descriptor::UNKNOWN: break;
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "", std::to_string((int) descriptor), path);
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
index 2132a2e4a..111068b39 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
@@ -35,13 +35,13 @@ namespace armarx::aron::data
{
// constructors
NDArray::NDArray(const Path& path) :
- detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(data::Descriptor::eNDArray, path)
+ detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(data::Descriptor::NDARRAY, path)
{
}
NDArray::NDArray(const data::dto::NDArrayPtr& o, const Path& path) :
- detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(o, data::Descriptor::eNDArray, path)
+ detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(o, data::Descriptor::NDARRAY, path)
{
}
@@ -176,27 +176,27 @@ namespace armarx::aron::data
type::Descriptor typeDesc = type->getDescriptor();
switch (typeDesc)
{
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
{
auto casted = type::Matrix::DynamicCastAndCheck(type);
return (aron->shape.size() == 3 && aron->shape[0] == casted->getRows() && aron->shape[1] == casted->getCols());
}
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
{
auto casted = type::Quaternion::DynamicCastAndCheck(type);
return (aron->shape.size() == 3 && aron->shape[0] == 1 && aron->shape[1] == 4);
}
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
{
auto casted = type::PointCloud::DynamicCastAndCheck(type);
return (aron->shape.size() == 3);
}
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
{
auto casted = type::Image::DynamicCastAndCheck(type);
return (aron->shape.size() == 3);
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
{
auto casted = type::NDArray::DynamicCastAndCheck(type);
return (aron->shape.size() == (unsigned int) casted->getNumberDimensions());
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index 12b402fd0..478c6a2c8 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -34,12 +34,12 @@ namespace armarx::aron::data
// constructors
Dict::Dict(const Path& path) :
- detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(data::Descriptor::eDict, path)
+ detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(data::Descriptor::DICT, path)
{
}
Dict::Dict(const data::dto::DictPtr& o, const Path& path) :
- detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(o, data::Descriptor::eDict, path)
+ detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(o, data::Descriptor::DICT, path)
{
for (const auto& [key, dataPtr] : this->aron->elements)
{
@@ -214,7 +214,7 @@ namespace armarx::aron::data
switch (typeDesc)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
auto objectTypeNav = type::Object::DynamicCastAndCheck(type);
for (const auto& [key, nav] : childrenNavigators)
@@ -234,7 +234,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
auto dictTypeNav = type::Dict::DynamicCastAndCheck(type);
for (const auto& [key, nav] : childrenNavigators)
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index 5317f7f05..498e59ee2 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -34,7 +34,7 @@
// ArmarX
#include "../../../type/variant/container/Dict.h"
#include "../../../type/variant/container/Object.h"
-#include "../../../type/variant/dto/All.h"
+#include "../../../type/variant/any/AnyObject.h"
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
index 74eb78a75..84bf1a200 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
@@ -35,12 +35,12 @@ namespace armarx::aron::data
{
// constructors
List::List(const Path& path) :
- detail::ContainerVariant<data::dto::List, List>::ContainerVariant(data::Descriptor::eList, path)
+ detail::ContainerVariant<data::dto::List, List>::ContainerVariant(data::Descriptor::LIST, path)
{
}
List::List(const data::dto::ListPtr& l, const Path& path) :
- detail::ContainerVariant<data::dto::List, List>::ContainerVariant(l, data::Descriptor::eList, path)
+ detail::ContainerVariant<data::dto::List, List>::ContainerVariant(l, data::Descriptor::LIST, path)
{
unsigned int i = 0;
for (const auto& dataPtr : l->elements)
@@ -216,7 +216,7 @@ namespace armarx::aron::data
type::Descriptor typeDesc = type->getDescriptor();
switch (typeDesc)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
auto listTypeNav = type::List::DynamicCastAndCheck(type);
for (const auto& nav : childrenNavigators)
@@ -232,7 +232,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
auto tupleTypeNav = type::Tuple::DynamicCastAndCheck(type);
unsigned int i = 0;
@@ -249,7 +249,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
auto pairTypeNav = type::Pair::DynamicCastAndCheck(type);
if (childrenSize() != 2)
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
index 8d83766b8..e8a00e47c 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
@@ -114,7 +114,9 @@ namespace armarx::aron::data::detail
}
auto casted = DerivedT::DynamicCast(n);
- ARMARX_CHECK_NOT_NULL(casted);
+ ARMARX_CHECK_NOT_NULL(casted) << "The path was: " << n->getPath().toString() << ".\n"
+ << "It has the descriptor: '" << data::defaultconversion::string::Descriptor2String.at(n->getDescriptor()) << "'.\n"
+ << "And the typeid: " << typeid(n).name() << ". Tried to cast to " << typeid(PointerType).name();
return casted;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
index 5b5cb2b0e..0e68bbc6d 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
Bool::Bool(const data::dto::AronBoolPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(o, data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(o, data::Descriptor::BOOL, path)
{
}
Bool::Bool(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(data::Descriptor::BOOL, path)
{
}
Bool::Bool(const bool d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(d, data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(d, data::Descriptor::BOOL, path)
{
}
@@ -111,7 +111,7 @@ namespace armarx::aron::data
bool Bool::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eBool;
+ return type->getDescriptor() == type::Descriptor::BOOL;
}
type::VariantPtr Bool::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
index 906afeeea..87ea9eeac 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
@@ -31,17 +31,17 @@ namespace armarx::aron::data
{
/* constructors */
Double::Double(const data::dto::AronDoublePtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(o, data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(o, data::Descriptor::DOUBLE, path)
{
}
Double::Double(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(data::Descriptor::DOUBLE, path)
{
}
Double::Double(const double d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(d, data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(d, data::Descriptor::DOUBLE, path)
{
}
@@ -104,7 +104,7 @@ namespace armarx::aron::data
bool Double::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eDouble;
+ return type->getDescriptor() == type::Descriptor::DOUBLE;
}
type::VariantPtr Double::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
index 154591f68..8dd7721c4 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
Float::Float(const data::dto::AronFloatPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(o, data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(o, data::Descriptor::FLOAT, path)
{
}
Float::Float(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(data::Descriptor::FLOAT, path)
{
}
Float::Float(const float d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(d, data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(d, data::Descriptor::FLOAT, path)
{
}
@@ -101,7 +101,7 @@ namespace armarx::aron::data
bool Float::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eFloat;
+ return type->getDescriptor() == type::Descriptor::FLOAT;
}
type::VariantPtr Float::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
index 14299d05a..cc4d9dc2e 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
@@ -30,17 +30,17 @@ namespace armarx::aron::data
{
/* constructors */
Int::Int(const data::dto::AronIntPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(o, data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(o, data::Descriptor::INT, path)
{
}
Int::Int(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(data::Descriptor::INT, path)
{
}
Int::Int(const int d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(d, data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(d, data::Descriptor::INT, path)
{
}
@@ -104,7 +104,7 @@ namespace armarx::aron::data
bool Int::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eInt || type->getDescriptor() == type::Descriptor::eIntEnum;
+ return type->getDescriptor() == type::Descriptor::INT || type->getDescriptor() == type::Descriptor::INT_ENUM;
}
type::VariantPtr Int::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
index 989caa469..6a271cdc8 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
@@ -31,17 +31,17 @@ namespace armarx::aron::data
{
/* constructors */
Long::Long(const data::dto::AronLongPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(o, data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(o, data::Descriptor::LONG, path)
{
}
Long::Long(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(data::Descriptor::LONG, path)
{
}
Long::Long(const long d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(d, data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(d, data::Descriptor::LONG, path)
{
}
@@ -105,7 +105,7 @@ namespace armarx::aron::data
bool Long::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eLong;
+ return type->getDescriptor() == type::Descriptor::LONG;
}
type::VariantPtr Long::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
index 0c4ec5bd3..6415245f3 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
String::String(const data::dto::AronStringPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(o, data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(o, data::Descriptor::STRING, path)
{
}
String::String(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(data::Descriptor::STRING, path)
{
}
String::String(const std::string& d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(d, data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(d, data::Descriptor::STRING, path)
{
}
@@ -101,7 +101,7 @@ namespace armarx::aron::data
bool String::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eString;
+ return type->getDescriptor() == type::Descriptor::STRING;
}
type::VariantPtr String::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index d691676b2..60cb4be0f 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -107,7 +107,6 @@ namespace armarx::aron::data
virtual void visitDouble(DataInput& elementData, TypeInput& elementType) {};
virtual void visitBool(DataInput& elementData, TypeInput& elementType) {};
virtual void visitString(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitDateTime(DataInput& elementData, TypeInput& elementType) {};
virtual void visitAnyObject(DataInput& elementData, TypeInput& elementType) {};
virtual void visitUnknown(DataInput& elementData, TypeInput& elementType) {
throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
@@ -131,7 +130,7 @@ namespace armarx::aron::data
data::Descriptor descriptor = v.getDescriptor(o);
switch (descriptor)
{
- case data::Descriptor::eList:
+ case data::Descriptor::LIST:
{
v.visitListOnEnter(o);
unsigned int i = 0;
@@ -143,7 +142,7 @@ namespace armarx::aron::data
v.visitListOnExit(o);
return;
}
- case data::Descriptor::eDict:
+ case data::Descriptor::DICT:
{
v.visitDictOnEnter(o);
for (auto& [key, value] : v.getDictElements(o))
@@ -153,21 +152,21 @@ namespace armarx::aron::data
v.visitDictOnExit(o);
return;
}
- case data::Descriptor::eNDArray:
+ case data::Descriptor::NDARRAY:
return v.visitNDArray(o);
- case data::Descriptor::eInt:
+ case data::Descriptor::INT:
return v.visitInt(o);
- case data::Descriptor::eLong:
+ case data::Descriptor::LONG:
return v.visitLong(o);
- case data::Descriptor::eFloat:
+ case data::Descriptor::FLOAT:
return v.visitFloat(o);
- case data::Descriptor::eDouble:
+ case data::Descriptor::DOUBLE:
return v.visitDouble(o);
- case data::Descriptor::eString:
+ case data::Descriptor::STRING:
return v.visitString(o);
- case data::Descriptor::eBool:
+ case data::Descriptor::BOOL:
return v.visitBool(o);
- case data::Descriptor::eUnknown:
+ case data::Descriptor::UNKNOWN:
return v.visitUnknown(o);
}
}
@@ -183,7 +182,7 @@ namespace armarx::aron::data
type::Descriptor descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
v.visitListOnEnter(o, t);
unsigned int i = 0;
@@ -195,7 +194,7 @@ namespace armarx::aron::data
v.visitListOnExit(o, t);
return;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
v.visitPairOnEnter(o, t);
auto pair = v.getPairElements(o, t);
@@ -206,7 +205,7 @@ namespace armarx::aron::data
v.visitPairOnExit(o, t);
return;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
v.visitTupleOnEnter(o, t);
unsigned int i = 0;
@@ -218,7 +217,7 @@ namespace armarx::aron::data
v.visitTupleOnExit(o, t);
return;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
v.visitDictOnEnter(o, t);
for (auto& [key, pair] : v.getDictElements(o, t))
@@ -228,7 +227,7 @@ namespace armarx::aron::data
v.visitDictOnExit(o, t);
return;
}
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
v.visitObjectOnEnter(o, t);
for (auto& [key, pair] : v.getObjectElements(o, t))
@@ -238,35 +237,33 @@ namespace armarx::aron::data
v.visitObjectOnExit(o, t);
return;
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(o, t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(o, t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(o, t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(o, t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(o, t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(o, t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(o, t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(o, t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(o, t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(o, t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(o, t);
- case type::Descriptor::eDateTime:
- return v.visitDateTime(o, t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(o, t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(o, t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(o, t);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
index 0a6f01aa5..d7c62f104 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
@@ -104,7 +104,6 @@ namespace armarx::aron::data
virtual void visitDouble(DataInput&, TypeInput&) {};
virtual void visitBool(DataInput&, TypeInput&) {};
virtual void visitString(DataInput&, TypeInput&) {};
- virtual void visitDateTime(DataInput&, TypeInput&) {};
virtual void visitAnyObject(DataInput&, TypeInput&) {};
virtual void visitUnknown(DataInput&, TypeInput&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~TypedVisitor() = default;
@@ -127,25 +126,25 @@ namespace armarx::aron::data
auto descriptor = v.getDescriptor(o);
switch (descriptor)
{
- case data::Descriptor::eList:
+ case data::Descriptor::LIST:
return v.visitList(o);
- case data::Descriptor::eDict:
+ case data::Descriptor::DICT:
return v.visitDict(o);
- case data::Descriptor::eNDArray:
+ case data::Descriptor::NDARRAY:
return v.visitNDArray(o);
- case data::Descriptor::eInt:
+ case data::Descriptor::INT:
return v.visitInt(o);
- case data::Descriptor::eLong:
+ case data::Descriptor::LONG:
return v.visitLong(o);
- case data::Descriptor::eFloat:
+ case data::Descriptor::FLOAT:
return v.visitFloat(o);
- case data::Descriptor::eDouble:
+ case data::Descriptor::DOUBLE:
return v.visitDouble(o);
- case data::Descriptor::eString:
+ case data::Descriptor::STRING:
return v.visitString(o);
- case data::Descriptor::eBool:
+ case data::Descriptor::BOOL:
return v.visitBool(o);
- case data::Descriptor::eUnknown:
+ case data::Descriptor::UNKNOWN:
return v.visitUnknown(o);
}
}
@@ -162,45 +161,43 @@ namespace armarx::aron::data
auto descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
return v.visitObject(o, t);
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
return v.visitList(o, t);
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
return v.visitDict(o, t);
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
return v.visitPair(o, t);
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
return v.visitTuple(o, t);
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(o, t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(o, t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(o, t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(o, t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(o, t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(o, t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(o, t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(o, t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(o, t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(o, t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(o, t);
- case type::Descriptor::eDateTime:
- return v.visitDateTime(o, t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(o, t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(o, t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(o, t);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
index 623356c73..84adf5c1e 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::data
{
if (n == nlohmann::json())
{
- return data::Descriptor::eUnknown;
+ return data::Descriptor::UNKNOWN;
}
std::string t = n[armarx::aron::data::rw::json::constantes::TYPE_SLUG];
return armarx::aron::data::rw::json::conversion::String2Descriptor.at(t);
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
index b408468fd..b0799cdbd 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
@@ -36,7 +36,7 @@ namespace armarx::aron::data
{
if (!n)
{
- return data::Descriptor::eUnknown;
+ return data::Descriptor::UNKNOWN;
}
return n->getDescriptor();
}
@@ -117,7 +117,7 @@ namespace armarx::aron::data
type::Descriptor ConstTypedVariantVisitor::GetDescriptor(DataInput& i, TypeInput& j)
{
auto t_desc = type::ConstVariantVisitor::GetDescriptor(j);
- if (t_desc == type::Descriptor::eUnknown)
+ if (t_desc == type::Descriptor::UNKNOWN)
{
auto d_desc = ConstVariantVisitor::GetDescriptor(i);
t_desc = aron::data::defaultconversion::Data2TypeDescriptor.at(d_desc);
@@ -249,13 +249,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void ConstTypedVariantVisitor::visitDateTime(DataInput& i, TypeInput& j)
- {
- auto d = data::Dict::DynamicCastAndCheck(i);
- auto t = type::DateTime::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::ObjectPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::DictPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::ListPtr&) {}
@@ -273,7 +266,6 @@ namespace armarx::aron::data
void ConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::StringPtr&, const type::StringPtr&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::DateTimePtr&) {}
@@ -799,13 +791,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void RecursiveConstTypedVariantVisitor::visitDateTime(DataInput& i, TypeInput& j)
- {
- auto d = data::Dict::DynamicCastAndCheck(i);
- auto t = type::DateTime::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
// see above
void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&) {}
@@ -826,7 +811,6 @@ namespace armarx::aron::data
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::LongPtr&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::DateTimePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
index f1ce3e33d..726adfd34 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
@@ -93,7 +93,6 @@ namespace armarx::aron::data
void visitDouble(DataInput&, TypeInput&) override;
void visitBool(DataInput&, TypeInput&) override;
void visitString(DataInput&, TypeInput&) override;
- void visitDateTime(DataInput&, TypeInput&) override;
// see above
virtual void visitAronVariant(const data::DictPtr&, const type::ObjectPtr&);
@@ -113,7 +112,6 @@ namespace armarx::aron::data
virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
virtual void visitAronVariant(const data::StringPtr&, const type::StringPtr&);
- virtual void visitAronVariant(const data::DictPtr&, const type::DateTimePtr&);
};
/**
@@ -236,7 +234,6 @@ namespace armarx::aron::data
void visitDouble(DataInput&, TypeInput&) override;
void visitBool(DataInput&, TypeInput&) override;
void visitString(DataInput&, TypeInput&) override;
- void visitDateTime(DataInput&, TypeInput&) override;
// see above
virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&);
@@ -261,6 +258,5 @@ namespace armarx::aron::data
virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
virtual void visitAronVariant(const data::StringPtr&, const type::StringPtr&);
- virtual void visitAronVariant(const data::DictPtr&, const type::DateTimePtr&);
};
}
diff --git a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp b/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp
deleted file mode 100644
index f86ae598e..000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "DataVisitor.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::aron::visitor
-{
-
-
- DataVisitor::DataVisitor()
- {
- }
-
- DataVisitor::~DataVisitor()
- {
- }
-
-
- bool DataVisitor::applyTo(data::dto::GenericDataPtr& data)
- {
- ARMARX_CHECK_NOT_NULL(data);
- return applyTo(*DataNavigator::FromAronDTO(data));
- }
-
- bool DataVisitor::applyTo(DataVisitor::DataNavigator& navigator)
- {
- return this->applyTo("", navigator);
- }
-
- bool DataVisitor::applyTo(const std::string& key, DataNavigator& navigator)
- {
- auto handleCollection = [this, key](auto & n)
- {
- if (!visitEnter(key, n))
- {
- return false;
- }
- if (!applyToChildren(n))
- {
- return false;
- }
- if (!visitExit(key, n))
- {
- return false;
- }
- return true;
- };
-
- if (auto n = dynamic_cast<DictDataNavigator*>(&navigator))
- {
- return handleCollection(*n);
- }
- else if (auto n = dynamic_cast<ListDataNavigator*>(&navigator))
- {
- return handleCollection(*n);
- }
-
- ARMARX_CHECK_EQUAL(navigator.childrenSize(), 0)
- << simox::meta::get_type_name(navigator);
-
- if (auto n = dynamic_cast<BoolDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<DoubleDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<FloatDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<IntDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<LongDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<NDArrayDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<StringDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- ARMARX_CHECK(false) << "Unhandled AronDataNavigatorType '" << simox::meta::get_type_name(navigator) << "'.";
- }
-
- bool DataVisitor::applyToChildren(DictDataNavigator& navigator)
- {
- for (const std::string& key : navigator.getAllKeys())
- {
- auto child = navigator.getElement(key);
- if (child)
- {
- if (!applyTo(key, *child))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool DataVisitor::applyToChildren(ListDataNavigator& navigator)
- {
- size_t i = 0;
- for (auto& child : navigator.getChildren())
- {
- if (child)
- {
- if (!applyTo(std::to_string(i), *child))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h b/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h
deleted file mode 100644
index a5b3eb18c..000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h
+++ /dev/null
@@ -1,265 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-
-
-namespace armarx::aron::visitor
-{
-
- /**
- * @brief A visitor traversing an `aron::data::dto::GenericDataPtr` using
- * `aron::datanavigator::Navigator`s, taking care of type checking,
- * casting and hierarchical traversal.
- *
- * To use it, create a class deriving from `AronDataVisitor` and
- * override the overloads of `visitEnter()`, `visitExit()` and `visit()`
- * for the types you would like to handle (see blow for a copy-and-paste
- * example).
- * Then, instantiate your derived visitor and call `applyTo()`, passing
- * the `AronDataPtr` or the root `Navigator`.
- *
- * For dicts and lists, you will get a `visitEnter()`/`visitExit()` pair.
- * For types without children (e.g. primitive types), you get a single
- * `visit()` call.
- *
- * Each visit function should return true to continue traversal or
- * false to stop it. All default implementations return true.
- *
- * To the the location of the passed navigator in the original `AronData`,
- * use `navigator.getPath()`.
- *
- * @see `aron::data::dto::GenericDataPtr`
- * @see `aron::datanavigator::Navigator`
- * @see `std::stack` To manage data with stack semantics.
- */
- class DataVisitor
- {
- public:
-
- // Define types to ease writing code in this and derived classes.
-
- using DataNavigator = data::Variant;
-
- using DictDataNavigator = data::Dict;
- using ListDataNavigator = data::List;
-
- using BoolDataNavigator = data::Bool;
- using DoubleDataNavigator = data::Double;
- using FloatDataNavigator = data::Float;
- using IntDataNavigator = data::Int;
- using LongDataNavigator = data::Long;
- using NDArrayDataNavigator = data::NDArray;
- using StringDataNavigator = data::String;
-
-
- public:
-
- DataVisitor();
- virtual ~DataVisitor();
-
-
- bool applyTo(data::dto::GenericDataPtr& aronData);
- bool applyTo(DataNavigator& navigator);
- bool applyTo(const std::string& key, DataNavigator& navigator);
-
-
-
- virtual bool visitEnter(DictDataNavigator& dict)
- {
- (void) dict;
- return true;
- }
- virtual bool visitExit(DictDataNavigator& dict)
- {
- (void) dict;
- return true;
- }
- virtual bool visitEnter(ListDataNavigator& list)
- {
- (void) list;
- return true;
- }
- virtual bool visitExit(ListDataNavigator& list)
- {
- (void) list;
- return true;
- }
-
- virtual bool visit(BoolDataNavigator& b)
- {
- (void) b;
- return true;
- }
- virtual bool visit(DoubleDataNavigator& d)
- {
- (void) d;
- return true;
- }
- virtual bool visit(FloatDataNavigator& f)
- {
- (void) f;
- return true;
- }
- virtual bool visit(IntDataNavigator& i)
- {
- (void) i;
- return true;
- }
- virtual bool visit(LongDataNavigator& l)
- {
- (void) l;
- return true;
- }
- virtual bool visit(NDArrayDataNavigator& array)
- {
- (void) array;
- return true;
- }
- virtual bool visit(StringDataNavigator& string)
- {
- (void) string;
- return true;
- }
-
-
- virtual bool visitEnter(const std::string& key, DictDataNavigator& dict)
- {
- (void) key;
- return visitEnter(dict);
- }
- virtual bool visitExit(const std::string& key, DictDataNavigator& dict)
- {
- (void) key;
- return visitExit(dict);
- }
- virtual bool visitEnter(const std::string& key, ListDataNavigator& list)
- {
- (void) key;
- return visitEnter(list);
- }
- virtual bool visitExit(const std::string& key, ListDataNavigator& list)
- {
- (void) key;
- return visitExit(list);
- }
-
- virtual bool visit(const std::string& key, BoolDataNavigator& b)
- {
- (void) key;
- return visit(b);
- }
- virtual bool visit(const std::string& key, DoubleDataNavigator& d)
- {
- (void) key;
- return visit(d);
- }
- virtual bool visit(const std::string& key, FloatDataNavigator& f)
- {
- (void) key;
- return visit(f);
- }
- virtual bool visit(const std::string& key, IntDataNavigator& i)
- {
- (void) key;
- return visit(i);
- }
- virtual bool visit(const std::string& key, LongDataNavigator& l)
- {
- (void) key;
- return visit(l);
- }
- virtual bool visit(const std::string& key, NDArrayDataNavigator& array)
- {
- (void) key;
- return visit(array);
- }
- virtual bool visit(const std::string& key, StringDataNavigator& string)
- {
- (void) key;
- return visit(string);
- }
-
-
- private:
-
- bool applyToChildren(DictDataNavigator& navigator);
- bool applyToChildren(ListDataNavigator& navigator);
-
- };
-
-}
-
-
-/* Copy-and-paste example below.
- * Remove functions you don't need.
- * Add `const std::string& key, ` to parameter list if you need an items's key
- * in the parent container.
- */
-
-#if 0
-
-struct MyDerivedAronDataVisitor : public armarx::aron::visitor::AronDataVisitor
-{
-
- bool visitEnter(DictDataNavigator& dict) override
- {
- (void) dict;
- return true;
- }
- bool visitExit(DictDataNavigator& dict) override
- {
- (void) dict;
- return true;
- }
- bool visitEnter(ListDataNavigator& list) override
- {
- (void) list;
- return true;
- }
- bool visitExit(ListDataNavigator& list) override
- {
- (void) list;
- return true;
- }
-
- bool visit(BoolDataNavigator& b) override
- {
- (void) b;
- return true;
- }
- bool visit(DoubleDataNavigator& d) override
- {
- (void) d;
- return true;
- }
- bool visit(FloatDataNavigator& f) override
- {
- (void) f;
- return true;
- }
- bool visit(IntDataNavigator& i) override
- {
- (void) i;
- return true;
- }
- bool visit(LongDataNavigator& l) override
- {
- (void) l;
- return true;
- }
- bool visit(NDArrayDataNavigator& array) override
- {
- (void) array;
- return true;
- }
- bool visit(StringDataNavigator& string) override
- {
- (void) string;
- return true;
- }
-
-};
-
-#endif
diff --git a/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h b/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h
deleted file mode 100644
index 3659dee40..000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h
+++ /dev/null
@@ -1,631 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-// STD/STL
-#include <map>
-#include <memory>
-#include <numeric>
-#include <set>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
-#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
-
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
-namespace armarx::aron
-{
- namespace type::matrix
- {
- const std::vector<type::matrix::ElementType> AllTypes = {
- type::matrix::ElementType::int16,
- type::matrix::ElementType::int32,
- type::matrix::ElementType::int64,
- type::matrix::ElementType::float32,
- type::matrix::ElementType::float64
- };
- }
-
- namespace type::quaternion
- {
- const std::vector<type::quaternion::ElementType> AllTypes = {
- type::quaternion::float32,
- type::quaternion::float64
- };
- }
-
- namespace type::image
- {
- const std::vector<type::image::PixelType> AllTypes = {
- type::image::PixelType::rgb24,
- type::image::PixelType::depth32
- };
- }
-
- namespace type::pointcloud
- {
- const std::vector<type::pointcloud::VoxelType> AllTypes = {
- type::pointcloud::VoxelType::PointXYZ,
- type::pointcloud::VoxelType::PointXYZHSV,
- type::pointcloud::VoxelType::PointXYZI,
- type::pointcloud::VoxelType::PointXYZL,
- type::pointcloud::VoxelType::PointXYZRGB,
- type::pointcloud::VoxelType::PointXYZRGBA,
- type::pointcloud::VoxelType::PointXYZRGBL
- };
- }
-
- namespace util
- {
- // generate i in [min, max)
- int generateRandom(int max, int min)
- {
- if (max < min)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The max value "+std::to_string(max)+" is lower than the min value "+std::to_string(min));
- }
- int random = (std::rand() % (max - min)) + min;
- return random;
- }
-
- template <class T>
- T getRandomElement(const std::vector<T>& vec)
- {
- int i = generateRandom(vec.size(), 0);
- return vec.at(i);
- }
-
- template <class ValueT>
- std::string getRandomKey(const std::map<std::string, ValueT>& m)
- {
- std::vector<std::string> keys;
- for (const auto [k, _] : m)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- std::string getRandomKey(const std::set<std::string>& set)
- {
- std::vector<std::string> keys;
- for (const auto& k : set)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- bool fiftyPercentChance()
- {
- return generateRandom(2, 0);
- }
-
- std::string generateRandomWord(const std::set<std::string>& usedKeys = {})
- {
- // https://randomwordgenerator.com/
- // script to convert random words into string:
- // jQuery("#result li i").remove(); var str = ""; jQuery("#result li").each(function() {str += jQuery(this).html() + ", " }); console.log(str);
- const std::vector<std::string> words =
- {
- "jaw", "river", "bow", "profession", "heat", "interference", "slave", "population", "deport", "redeem", "digress", "penny", "cousin", "beef", "Bible", "fuss",
- "urgency", "tasty", "innovation", "upset", "gold", "day", "remunerate", "strain", "district", "panel", "choke", "rack", "parameter", "despair", "extort", "country",
- "hesitate", "record", "brand", "confusion", "discreet", "accept", "lifestyle", "option", "corn", "charity", "miss", "viable", "glance", "norm", "meet", "bird",
- "ribbon", "guideline"
- };
-
- int i = generateRandom(words.size(), 0);
- std::string key = words.at(i);
-
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord(usedKeys);
- }
-
- return key;
- }
-
- std::vector<unsigned char> generateRandomBlob(unsigned int size)
- {
- std::vector<unsigned char> new_blob(size, 0);
- for (unsigned int i = 0; i < size; ++i)
- {
- new_blob[i] = (generateRandom(128, 0));
- }
- return new_blob;
- }
-
- struct RandomTypeGenerator : public type::Visitor<const type::Descriptor>
- {
- type::VariantPtr type;
-
- static type::VariantPtr GenerateRandomType(bool can_be_maybe = true, bool must_be_object = false)
- {
- RandomTypeGenerator nt;
- if (must_be_object)
- {
- type::visit(nt, type::Descriptor::eObject);
- }
- else
- {
- type::visit(nt, util::getRandomElement(type::AllDescriptors));
- }
-
- if (can_be_maybe)
- {
- type::Maybe nextMaybeType = util::getRandomElement(type::AllMaybeTypes);
- nt.type->setMaybe(nextMaybeType);
- }
- return nt.type;
- }
-
- virtual type::Descriptor getDescriptor(Input& t) override { return t; }
- virtual void visitObject(Input&) override
- {
- std::string objectName = util::generateRandomWord();
-
- int members = util::generateRandom(4, 2);
- std::set<std::string> usedKeys = {objectName};
- std::map<std::string, type::VariantPtr> elements;
- for (int i = 0; i < members; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- elements.insert({key, GenerateRandomType()});
- }
- type = std::make_shared<type::Object>(objectName, elements);
- }
- virtual void visitDict(Input&) override { type = std::make_shared<type::Dict>(GenerateRandomType()); }
- virtual void visitPair(Input&) override { type = std::make_shared<type::Pair>(GenerateRandomType(), GenerateRandomType()); }
- virtual void visitTuple(Input&) override
- {
- int members = util::generateRandom(4, 2);
- std::vector<type::VariantPtr> acceptedTypes;
- for (int i = 0; i < members; ++i)
- {
- acceptedTypes.push_back(GenerateRandomType());
- }
-
- type = std::make_shared<type::Tuple>(acceptedTypes);
- }
- virtual void visitList(Input&) override { type = std::make_shared<type::List>(GenerateRandomType()); }
- virtual void visitMatrix(Input&) override
- {
- auto x = std::make_shared<type::Matrix>();
- auto t = util::getRandomElement(type::matrix::AllTypes);
- x->setElementType(t);
- x->setRows(util::generateRandom(10, 1));
- x->setRows(util::generateRandom(10, 1));
- type = x;
- }
- virtual void visitNDArray(Input& t) override { visitMatrix(t); }
- virtual void visitQuaternion(Input&) override
- {
- auto x = std::make_shared<type::Quaternion>();
- auto t = util::getRandomElement(type::quaternion::AllTypes);
- x->setElementType(t);
- type = x;
- }
- virtual void visitOrientation(Input&) override { type = std::make_shared<type::Orientation>(); }
- virtual void visitPosition(Input&) override { type = std::make_shared<type::Position>(); }
- virtual void visitPose(Input&) override { type = std::make_shared<type::Pose>(); }
- virtual void visitImage(Input&) override
- {
- auto t = std::make_shared<type::Image>();
- auto x = util::getRandomElement(type::image::AllTypes);
- t->setPixelType(x);
- type = t;
- }
- virtual void visitPointCloud(Input&) override
- {
- auto t = std::make_shared<type::PointCloud>();
- auto x = util::getRandomElement(type::pointcloud::AllTypes);
- t->setVoxelType(x);
- type = t;
- }
- virtual void visitIntEnum(Input&) override
- {
- std::string intEnumName = util::generateRandomWord();
-
- std::set<std::string> usedKeys = {intEnumName};
- std::map<std::string, int> acceptedValues;
- for (int i = 0; i < util::generateRandom(5, 2); ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- acceptedValues.insert({key, i});
- }
- type = std::make_shared<type::IntEnum>(intEnumName, acceptedValues);
- }
- virtual void visitInt(Input&) override { type = std::make_shared<type::Int>(); }
- virtual void visitLong(Input&) override { type = std::make_shared<type::Long>(); }
- virtual void visitFloat(Input&) override { type = std::make_shared<type::Float>(); }
- virtual void visitDouble(Input&) override { type = std::make_shared<type::Double>(); }
- virtual void visitBool(Input&) override { type = std::make_shared<type::Bool>(); }
- virtual void visitString(Input&) override { type = std::make_shared<type::String>(); }
- virtual void visitDateTime(Input&) override { type = std::make_shared<type::DateTime>(); }
- virtual void visitUnknown(Input&) override { type = GenerateRandomType(); }
- };
-
- struct EmptyDataFromTypeGenerator : public type::Visitor<const type::Descriptor>
- {
- type::VariantPtr type;
- data::VariantPtr data;
-
- static data::VariantPtr GenerateRandomFromType(const type::VariantPtr& t)
- {
- EmptyDataFromTypeGenerator nt;
- nt.type = t;
- type::visit(nt, util::getRandomElement(type::AllDescriptors));
- return nt.data;
- }
-
- virtual type::Descriptor getDescriptor(Input& t) override { return t; }
- virtual void visitObject(Input&) override
- {
- auto da = std::make_shared<data::Dict>();
-
- type::ObjectPtr t = type::Object::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Dict>();
- for (const auto& [k, tt] : t->getMemberTypes())
- {
- d->addElement(k, GenerateRandomFromType(tt));
- }
- data = da;
- }
- virtual void visitDict(Input&) override { data = std::make_shared<data::Dict>(); }
- virtual void visitPair(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitTuple(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitList(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitMatrix(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitNDArray(Input& t) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitQuaternion(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitOrientation(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPosition(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPose(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitImage(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPointCloud(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitIntEnum(Input&) override { data = std::make_shared<data::Int>(); }
- virtual void visitInt(Input&) override { data = std::make_shared<data::Int>(); }
- virtual void visitLong(Input&) override { data = std::make_shared<data::Long>(); }
- virtual void visitFloat(Input&) override { data = std::make_shared<data::Float>(); }
- virtual void visitDouble(Input&) override { data = std::make_shared<data::Double>(); }
- virtual void visitBool(Input&) override { data = std::make_shared<data::Bool>(); }
- virtual void visitString(Input&) override { data = std::make_shared<data::String>(); }
- virtual void visitDateTime(Input&) override { data = std::make_shared<data::Long>(); }
- virtual void visitUnknown(Input&) override { data = GenerateRandomFromType(type); }
- };
- }
-
- class Randomizer
- {
- public:
- Randomizer()
- {
- std::srand(std::time(nullptr));
- };
-
- type::VariantPtr generateRandomObjectType() const
- {
- return util::RandomTypeGenerator::GenerateRandomType(false, true);
- }
-
- data::VariantPtr generateEmptyAronDataFromType(const type::VariantPtr& type, bool ignore_maybe = false) const
- {
- if (type->getMaybe() != type::Maybe::eNone && !ignore_maybe)
- {
- if (util::fiftyPercentChance())
- {
- return nullptr;
- }
- }
-
- auto data = util::EmptyDataFromTypeGenerator::GenerateRandomFromType(type);
- return data;
- }
-
- void initializeRandomly(data::VariantPtr& data, const type::VariantPtr& type) const
- {
- data = generateEmptyAronDataFromType(type);
- if (!data)
- {
- if (type->getMaybe() == type::Maybe::eNone)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The data is null but the type is not a maybe type. This is not valid.");
- }
- return;
- }
-
- // Containers
- type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eObject:
- {
- auto t = type::Object::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eOrientation:
- {
- auto t = type::Orientation::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePosition:
- {
- auto t = type::Position::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePose:
- {
- auto t = type::Pose::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- auto d = data::Float::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- auto d = data::Double::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- auto d = data::String::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- auto d = data::Bool::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTime:
- {
- auto t = type::DateTime::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
-
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Object& type) const
- {
- for (auto& [key, nextData] : data->getElements())
- {
- initializeRandomly(nextData, type.getMemberTypes()[key]);
- data->removeElement(key);
- data->addElement(key, nextData);
- }
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Dict& type) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- std::set<std::string> usedKeys;
- for (int i = 0; i < numElements; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType());
- data->addElement(key, newData);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Tuple& type) const
- {
- std::vector<data::VariantPtr> newElements;
-
- unsigned int i = 0;
- for (auto& nextData : data->getElements())
- {
- initializeRandomly(nextData, type.getAcceptedType(i++));
- newElements.push_back(nextData);
- }
-
- data->clear();
- for (const auto& el : newElements)
- {
- data->addElement(el);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Pair& type) const
- {
- data::VariantPtr first = data->getElement(0);
- data::VariantPtr second = data->getElement(1);
- initializeRandomly(first, type.getFirstAcceptedType());
- initializeRandomly(second, type.getSecondAcceptedType());
-
- data->clear();
- data->addElement(first);
- data->addElement(second);
- }
-
- void initializeRandomly(data::ListPtr& data, const type::List& type) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- for (int i = 0; i < numElements; ++i)
- {
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType());
- data->addElement(newData);
- }
- }
-
- void initializeRandomly(data::NDArrayPtr& data, const type::Variant& type) const
- {
- std::vector<int> dims = data->getShape();
- int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
- std::vector<unsigned char> blob = util::generateRandomBlob(bytes);
- data->setData(bytes, blob.data());
- }
-
- void initializeRandomly(data::IntPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::LongPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::FloatPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::DoublePtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::BoolPtr& data, const type::Variant& type) const
- {
- data->setValue(util::fiftyPercentChance());
- }
-
- void initializeRandomly(data::StringPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandomWord());
- }
- };
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp b/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp
deleted file mode 100644
index cb129561e..000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "TypedDataVisitor.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::aron::visitor
-{
-
-
- TypedDataVisitor::TypedDataVisitor()
- {
- }
-
- TypedDataVisitor::~TypedDataVisitor()
- {
- }
-
- bool TypedDataVisitor::applyTo(TypeNavigator& type, DataNavigator& data)
- {
- return this->applyTo("", type, data);
- }
-
- template <class DataT, class TypeT>
- bool TypedDataVisitor::applyToCollection(TypeT& type, const std::string& key, DataNavigator& data)
- {
- DataT& dataCast = dynamic_cast<DataT&>(data);
- if (!visitEnter(type, key, dataCast))
- {
- return false;
- }
- if (!applyToChildren(type, dataCast))
- {
- return false;
- }
- if (!visitExit(type, key, dataCast))
- {
- return false;
- }
- return true;
- }
-
- template <class ToT, class FromT>
- ToT cast(const FromT& from)
- {
- ToT to;
- to.setValue(from.getValue());
- return to;
- }
- template <class FromDataT>
- std::optional<data::Long> castToLong(const FromDataT& data)
- {
- if (auto d = dynamic_cast<const data::Int*>(&data))
- {
- return cast<data::Long>(*d);
- }
- return std::nullopt;
- }
- template <class FromDataT>
- std::optional<data::Int> castToInt(const FromDataT& data)
- {
- if (auto d = dynamic_cast<const data::Long*>(&data))
- {
- return cast<data::Int>(*d);
- }
- return std::nullopt;
- }
-
-
- bool TypedDataVisitor::applyTo(const std::string& key, TypeNavigator& type, DataNavigator& data)
- {
- if (auto t = dynamic_cast<ObjectTypeNavigator*>(&type))
- {
- return applyToCollection<DictDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<DictTypeNavigator*>(&type))
- {
- return applyToCollection<DictDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<ListTypeNavigator*>(&type))
- {
- return applyToCollection<ListDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<TupleTypeNavigator*>(&type))
- {
- return applyToCollection<ListDataNavigator>(*t, key, data);
- }
-
- ARMARX_CHECK_EQUAL(type.childrenSize(), 0) << simox::meta::get_type_name(type);
- ARMARX_CHECK_EQUAL(data.childrenSize(), 0) << simox::meta::get_type_name(data);
-
- try
- {
-
- if (auto t = dynamic_cast<BoolTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<BoolDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<DoubleTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<DoubleDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<FloatTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<FloatDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<IntTypeNavigator*>(&type))
- {
- if (auto cast = castToInt(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<IntDataNavigator&>(data));
- }
- }
- else if (auto t = dynamic_cast<LongTypeNavigator*>(&type))
- {
- if (auto cast = castToLong(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<LongDataNavigator&>(data));
- }
- }
- else if (auto t = dynamic_cast<StringTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<StringDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<TimeTypeNavigator*>(&type))
- {
- if (auto cast = castToLong(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<LongDataNavigator&>(data));
- }
- }
-
- if (auto t = dynamic_cast<PCLPointCloudTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<EigenMatrixTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<EigenQuaternionTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<ImageNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<PoseTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<PositionTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<OrientationTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
-
- ARMARX_CHECK(false) << "Unhandled AronTypeNavigatorType '" << simox::meta::get_type_name(type) << "'."
- << "\n(Data: '" << simox::meta::get_type_name(data) << "')";
- }
- catch (const std::bad_cast& e)
- {
- std::stringstream msg;
- msg << "Got ARON data '" << simox::meta::get_type_name(data) << "'"
- << " incompatible to ARON type '" << simox::meta::get_type_name(type) << "'"
- << " (got std::bad_cast: '" << e.what() << "').";
- throw error::AronException(__PRETTY_FUNCTION__, msg.str());
- }
- }
-
- bool TypedDataVisitor::applyToChildren(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- for (const std::string& key : type.getAllKeys())
- {
- TypeNavigator::PointerType childType = type.getMemberType(key);
- DataNavigator::PointerType childData = data.getElement(key);
- if (childType && childData)
- {
- if (!applyTo(key, *childType, *childData))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(DictTypeNavigator& type, DictDataNavigator& data)
- {
- TypeNavigator::PointerType childType = type.getAcceptedType();
- for (const std::string& key : data.getAllKeys())
- {
- DataNavigator::PointerType childData = data.getElement(key);
- if (childType && childData)
- {
- if (!applyTo(key, *childType, *childData))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(ListTypeNavigator& type, ListDataNavigator& data)
- {
- TypeNavigator::PointerType childType = type.getAcceptedType();
- size_t i = 0;
- for (const DataNavigator::PointerType& childData : data.getElements())
- {
- if (childType && childData)
- {
- if (!applyTo(std::to_string(i), *childType, *childData))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- unsigned int i = 0;
- for (const TypeNavigator::PointerType& childType : type.getAcceptedTypes())
- {
- DataNavigator::PointerType childData = data.getElement(i);
- if (childType && childData)
- {
- if (!applyTo(std::to_string(i), *childType, *childData))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h b/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h
deleted file mode 100644
index 5a41647d3..000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-
-namespace armarx::aron::visitor
-{
-
- /**
- * @brief A visitor traversing an `aron::type::dto::GenericTypePtr` using
- * `aron::Typenavigator::Navigator`s, taking care of type checking,
- * casting and hierarchical traversal.
- *
- * To use it, create a class deriving from `AronTypeVisitor` and
- * override the overloads of `visitEnter()`, `visitExit()` and `visit()`
- * for the types you would like to handle (see blow for a copy-and-paste
- * example).
- * Then, instantiate your derived visitor and call `applyTo()`, passing
- * the `AronTypePtr` or the root `Navigator`.
- *
- * For dicts and lists, you will get a `visitEnter()`/`visitExit()` pair.
- * For types without children (e.g. primitive types), you get a single
- * `visit()` call.
- *
- * Each visit function should return true to continue traversal or
- * false to stop it. All default implementations return true.
- *
- * To the the location of the passed navigator in the original `AronType`,
- * use `navigator.getPath()`.
- *
- * @see `aron::type::dto::GenericTypePtr`
- * @see `aron::Typenavigator::Navigator`
- * @see `std::stack` To manage Type with stack semantics.
- */
- class TypedDataVisitor
- {
- public:
-
- // Define types to ease writing code in this and derived classes.
-
- // Data - possible data representations
- using DataNavigator = data::Variant;
-
- using DictDataNavigator = data::Dict;
- using ListDataNavigator = data::List;
-
- using BoolDataNavigator = data::Bool;
- using DoubleDataNavigator = data::Double;
- using FloatDataNavigator = data::Float;
- using IntDataNavigator = data::Int;
- using LongDataNavigator = data::Long;
- using StringDataNavigator = data::String;
-
- using NDArrayDataNavigator = data::NDArray;
-
-
- // Type
- using TypeNavigator = type::Variant;
-
- // Dict-valued
- using DictTypeNavigator = type::Dict;
- using ObjectTypeNavigator = type::Object;
-
- // List-valued
- using ListTypeNavigator = type::List;
- using TupleTypeNavigator = type::Tuple;
-
- // Primitive-valued
- using BoolTypeNavigator = type::Bool;
- using DoubleTypeNavigator = type::Double;
- using FloatTypeNavigator = type::Float;
- using IntTypeNavigator = type::Int;
- using LongTypeNavigator = type::Long;
- using StringTypeNavigator = type::String;
- using TimeTypeNavigator = type::DateTime;
-
-
- // Array-valued
- using EigenMatrixTypeNavigator = type::Matrix;
- using EigenQuaternionTypeNavigator = type::Quaternion;
- using ImageNavigator = type::Image;
- using PCLPointCloudTypeNavigator = type::PointCloud;
- using PoseTypeNavigator = type::Pose;
- using PositionTypeNavigator = type::Position;
- using OrientationTypeNavigator = type::Orientation;
-
-
- public:
-
- TypedDataVisitor();
- virtual ~TypedDataVisitor();
-
-
- bool applyTo(TypeNavigator& type, DataNavigator& data);
- bool applyTo(const std::string& key, TypeNavigator& type, DataNavigator& data);
-
-
- virtual bool visitEnter(DictTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(DictTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(ListTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(ListTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
- virtual bool visit(BoolTypeNavigator& type, BoolDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(DoubleTypeNavigator& type, DoubleDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(FloatTypeNavigator& type, FloatDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(IntTypeNavigator& type, IntDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(LongTypeNavigator& type, LongDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(StringTypeNavigator& type, StringDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(TimeTypeNavigator& type, LongDataNavigator& data)
- {
- return visit(type, IceUtil::Time::microSeconds(data.getValue()));
- }
- virtual bool visit(TimeTypeNavigator& type, const IceUtil::Time& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
- virtual bool visit(EigenMatrixTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(EigenQuaternionTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(ImageNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- /*virtual bool visit(IVTCByteImageTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(OpenCVMatTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }*/
- virtual bool visit(PCLPointCloudTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(PoseTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(PositionTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(OrientationTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
-
- virtual bool visitEnter(DictTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(DictTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(ObjectTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(ObjectTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(ListTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(ListTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(TupleTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(TupleTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
-
- virtual bool visit(BoolTypeNavigator& type, const std::string& key, BoolDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(DoubleTypeNavigator& type, const std::string& key, DoubleDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(FloatTypeNavigator& type, const std::string& key, FloatDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(IntTypeNavigator& type, const std::string& key, IntDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(LongTypeNavigator& type, const std::string& key, LongDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(StringTypeNavigator& type, const std::string& key, StringDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(TimeTypeNavigator& type, const std::string& key, LongDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(TimeTypeNavigator& type, const std::string& key, const IceUtil::Time& data)
- {
- (void) key;
- return visit(type, data);
- }
-
-
- virtual bool visit(EigenMatrixTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(EigenQuaternionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(ImageNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- /*virtual bool visit(IVTCByteImageTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(OpenCVMatTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }*/
- virtual bool visit(PCLPointCloudTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(PoseTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(PositionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(OrientationTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
-
-
- private:
-
- template <class DataT, class TypeT>
- bool applyToCollection(TypeT& type, const std::string& key, DataNavigator& data);
-
- bool applyToChildren(ObjectTypeNavigator& type, DictDataNavigator& data);
- bool applyToChildren(DictTypeNavigator& type, DictDataNavigator& data);
- bool applyToChildren(ListTypeNavigator& type, ListDataNavigator& data);
- bool applyToChildren(TupleTypeNavigator& type, ListDataNavigator& data);
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 0250dd36e..e69de29bb 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -1,146 +0,0 @@
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox not available")
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-find_package(IVT COMPONENTS ivt ivtopencv QUIET)
-armarx_build_if(IVT_FOUND "IVT not available")
-
-find_package(OpenCV QUIET)
-armarx_build_if(OpenCV_FOUND "OpenCV not available")
-
-find_package(PCL QUIET)
-armarx_build_if(PCL_FOUND "PCL not available")
-
-######################
-# ARON OPERATOR TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronOperatorTest
- TEST_FILE
- aronOperatorTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- aron
- aroncommon
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-######################
-# ARON CODE GEN TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronCodeGenerationTest
- TEST_FILE
- aronCodeGenerationTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/AnyTest.xml
- aron/TemplateTest.xml
- aron/DictTest.xml
- aron/MatrixTest.xml
- aron/QuaternionTest.xml
- aron/EnumTest.xml
- aron/HumanPoseTest.xml
- aron/ImageTest.xml
- aron/ListTest.xml
- aron/NaturalIKTest.xml
- aron/ObjectTest.xml
- aron/OrientationTest.xml
- aron/PointCloudTest.xml
- aron/PoseTest.xml
- aron/PositionTest.xml
- aron/PrimitiveTest.xml
- aron/OptionalTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
- ${Eigen3_INCLUDE_DIR}
- ${IVT_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
- ${PCL_INCLUDE_DIRS}
-)
-
-######################
-# ARON NAVIGATE TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronNavigateTest
- TEST_FILE
- aronNavigateTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/NaturalIKTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-######################
-# ARON EXTENDS TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronExtendsTest
- TEST_FILE
- aronExtendsTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/BaseClassTest.xml
- aron/DerivedClassTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-########################
-# ARON RANDOMIZED TEST #
-########################
-armarx_add_test(
- TEST_NAME
- aronRandomizedTest
- TEST_FILE
- aronRandomizedTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ivt
- ivtopencv
- ${PCL_COMMON_LIBRARIES}
- aronjsonconverter
- ARON_FILES
- aron/DictTest.xml
- aron/MatrixTest.xml
- aron/QuaternionTest.xml
- aron/EnumTest.xml
- aron/HumanPoseTest.xml
- aron/ListTest.xml
- aron/NaturalIKTest.xml
- aron/ObjectTest.xml
- aron/OrientationTest.xml
- aron/PointCloudTest.xml
- aron/PoseTest.xml
- aron/PositionTest.xml
- aron/PrimitiveTest.xml
- aron/OptionalTest.xml
- aron/ImageTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
- ${Eigen3_INCLUDE_DIR}
- ${IVT_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
- ${PCL_INCLUDE_DIRS}
-)
diff --git a/source/RobotAPI/libraries/aron/core/test/Randomizer.cpp b/source/RobotAPI/libraries/aron/core/test/Randomizer.cpp
deleted file mode 100644
index e81ab45e0..000000000
--- a/source/RobotAPI/libraries/aron/core/test/Randomizer.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include "Randomizer.h"
diff --git a/source/RobotAPI/libraries/aron/core/test/Randomizer.h b/source/RobotAPI/libraries/aron/core/test/Randomizer.h
deleted file mode 100644
index 24e441822..000000000
--- a/source/RobotAPI/libraries/aron/core/test/Randomizer.h
+++ /dev/null
@@ -1,771 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-// STD/STL
-#include <map>
-#include <memory>
-#include <numeric>
-#include <set>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-#include <RobotAPI/libraries/aron/core/type/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/data/visitor/Visitor.h>
-
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h>
-
-namespace armarx::aron
-{
- namespace type::matrix
- {
- std::vector<type::matrix::ElementType> getAllTypes()
- {
- std::vector<type::matrix::ElementType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::matrix::ElementType> AllTypes = getAllTypes();
- }
-
- namespace type::quaternion
- {
- std::vector<type::quaternion::ElementType> getAllTypes()
- {
- std::vector<type::quaternion::ElementType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::quaternion::ElementType> AllTypes = getAllTypes();
- }
-
- namespace type::image
- {
- std::vector<type::image::PixelType> getAllTypes()
- {
- std::vector<type::image::PixelType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Image::PixelType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::image::PixelType> AllTypes = getAllTypes();
- }
-
- namespace type::pointcloud
- {
- std::vector<type::pointcloud::VoxelType> getAllTypes()
- {
- std::vector<type::pointcloud::VoxelType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::pointcloud::VoxelType> AllTypes = getAllTypes();
- }
-
- namespace util
- {
- // generate i in [min, max)
- int generateRandom(int max, int min)
- {
- if (max < min)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The max value "+std::to_string(max)+" is lower than the min value "+std::to_string(min));
- }
- int random = (std::rand() % (max - min)) + min;
- return random;
- }
-
- template <class T>
- T getRandomElement(const std::vector<T>& vec)
- {
- int i = generateRandom(vec.size(), 0);
- return vec.at(i);
- }
-
- template <class ValueT>
- std::string getRandomKey(const std::map<std::string, ValueT>& m)
- {
- std::vector<std::string> keys;
- for (const auto [k, _] : m)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- std::string getRandomKey(const std::set<std::string>& set)
- {
- std::vector<std::string> keys;
- for (const auto& k : set)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- bool fiftyPercentChance()
- {
- return generateRandom(2, 0);
- }
-
- std::string generateRandomWord(const std::set<std::string>& usedKeys = {})
- {
- // https://randomwordgenerator.com/
- // script to convert random words into string:
- // jQuery("#result li i").remove(); var str = ""; jQuery("#result li").each(function() {str += jQuery(this).html() + ", " }); console.log(str);
- const std::vector<std::string> words =
- {
- "jaw", "river", "bow", "profession", "heat", "interference", "slave", "population", "deport", "redeem", "digress", "penny", "cousin", "beef", "Bible", "fuss",
- "urgency", "tasty", "innovation", "upset", "gold", "day", "remunerate", "strain", "district", "panel", "choke", "rack", "parameter", "despair", "extort", "country",
- "hesitate", "record", "brand", "confusion", "discreet", "accept", "lifestyle", "option", "corn", "charity", "miss", "viable", "glance", "norm", "meet", "bird",
- "ribbon", "guideline"
- };
-
- int i = generateRandom(words.size(), 0);
- std::string key = words.at(i);
-
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord(usedKeys);
- }
-
- return key;
- }
-
- std::vector<unsigned char> generateRandomBlob(unsigned int size)
- {
- std::vector<unsigned char> new_blob(size, 0);
- for (unsigned int i = 0; i < size; ++i)
- {
- new_blob[i] = (generateRandom(128, 0));
- }
- return new_blob;
- }
- }
-
- class Randomizer
- {
- public:
- Randomizer()
- {
- std::srand(std::time(nullptr));
- };
-
- type::VariantPtr generateRandomType(bool allowMaybeType = false, bool firstObject = false) const
- {
- type::Descriptor nextType = type::Descriptor::eObject;
- if (!firstObject)
- {
- nextType = util::getRandomElement(type::AllDescriptors);
- }
-
- type::Maybe nextMaybeType = type::Maybe::eNone;
- if (allowMaybeType && !firstObject)
- {
- nextMaybeType = util::getRandomElement(type::AllMaybeTypes);
- }
- (void) nextMaybeType; //unused
-
- switch (nextType)
- {
- case type::Descriptor::eAnyObject: [[fallthrough]];
- case type::Descriptor::eObject:
- {
- std::string objectName = util::generateRandomWord();
-
- int members = util::generateRandom(4, 2);
- std::set<std::string> usedKeys = {objectName};
- std::map<std::string, type::VariantPtr> elements;
- for (int i = 0; i < members; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- type::VariantPtr m = generateRandomType(false);
- elements.insert({key, m});
- }
-
- auto t = std::make_shared<type::Object>(objectName, std::vector<std::string>(), std::vector<std::string>(), elements);
- return t;
- }
- case type::Descriptor::eIntEnum:
- {
- std::string intEnumName = util::generateRandomWord();
-
- std::set<std::string> usedKeys = {intEnumName};
- std::map<std::string, int> acceptedValues;
- for (int i = 0; i < util::generateRandom(5, 2); ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- acceptedValues.insert({key, i});
- }
- auto t = std::make_shared<type::IntEnum>(intEnumName, acceptedValues);
- return t;
- }
- case type::Descriptor::eDict:
- {
- type::VariantPtr a = generateRandomType(false);
- auto t = std::make_shared<type::Dict>(a);
- return t;
- }
- case type::Descriptor::eTuple:
- {
- int members = util::generateRandom(4, 2);
- std::vector<type::VariantPtr> acceptedTypes;
- for (int i = 0; i < members; ++i)
- {
- type::VariantPtr m = generateRandomType(false);
- acceptedTypes.push_back(m);
- }
-
- auto t = std::make_shared<type::Tuple>(acceptedTypes);
- return t;
- }
- case type::Descriptor::eList:
- {
- type::VariantPtr a = generateRandomType(false);
-
- auto t = std::make_shared<type::List>(a);
- return t;
- }
- case type::Descriptor::ePair:
- {
- type::VariantPtr a = generateRandomType(false);
- type::VariantPtr b = generateRandomType(false);
-
- auto t = std::make_shared<type::Pair>(a,b);
- return t;
- }
- case type::Descriptor::eNDArray:
- {
- // TODO (fabian.peller)
- // fall through EigenMatrix
- }
- case type::Descriptor::eMatrix:
- {
- auto t = std::make_shared<type::Matrix>();
- auto type = util::getRandomElement(type::matrix::AllTypes);
- t->setElementType(type);
- t->setRows(util::generateRandom(10, 1));
- t->setRows(util::generateRandom(10, 1));
- return t;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = std::make_shared<type::Quaternion>();
- auto type = util::getRandomElement(type::quaternion::AllTypes);
- t->setElementType(type);
- return t;
- }
- case type::Descriptor::eImage:
- {
- auto t = std::make_shared<type::Image>();
- auto type = util::getRandomElement(type::image::AllTypes);
- t->setPixelType(type);
- return t;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = std::make_shared<type::PointCloud>();
- auto type = util::getRandomElement(type::pointcloud::AllTypes);
- t->setVoxelType(type);
- return t;
- }
- case type::Descriptor::eInt:
- {
- auto t = std::make_shared<type::Int>();
- return t;
- }
- case type::Descriptor::eLong:
- {
- auto t = std::make_shared<type::Long>();
- return t;
- }
- case type::Descriptor::eFloat:
- {
- auto t = std::make_shared<type::Float>();
- return t;
- }
- case type::Descriptor::eDouble:
- {
- auto t = std::make_shared<type::Double>();
- return t;
- }
- case type::Descriptor::eString:
- {
- auto t = std::make_shared<type::String>();
- return t;
- }
- case type::Descriptor::eBool:
- {
- auto t = std::make_shared<type::Bool>();
- return t;
- }
- case type::Descriptor::eDateTime:
- {
- auto t = std::make_shared<type::DateTime>();
- return t;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
- }
-
- data::VariantPtr generateEmptyAronDataFromType(const type::VariantPtr& type, bool ignore_maybe = false) const
- {
- if (type->getMaybe() != type::Maybe::eNone && !ignore_maybe)
- {
- if (util::fiftyPercentChance())
- {
- return nullptr;
- }
- }
-
- const type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- // In an object, we do not want to edit the keys.
- case type::Descriptor::eObject:
- {
- type::ObjectPtr t = type::Object::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Dict>();
- for (const auto& [k, tt] : t->getMemberTypes())
- {
- d->addElement(k, generateEmptyAronDataFromType(tt));
- }
- return d;
- }
-
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Int>();
- return d;
- }
-
- // here all totally random
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Dict());
- }
-
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({(int) t->getRows(), (int) t->getCols(), aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp.at(t->getElementType()).second});
- d->setType(aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp.at(t->getElementType()).first);
- return d;
- }
-
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({1, 4, aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp.at(t->getElementType()).second});
- d->setType(aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp.at(t->getElementType()).first);
- return d;
- }
-
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({util::generateRandom(10, 1), util::generateRandom(10, 1), aron::codegenerator::cpp::generator::Image::PixelType2Cpp.at(t->getPixelType()).second});
- d->setType("5");
- return d;
- }
-
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({util::generateRandom(10, 1), util::generateRandom(10, 1), aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp.at(t->getVoxelType()).second});
- d->setType(aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp.at(t->getVoxelType()).first);
- return d;
- }
-
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- return d;
- }
-
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Int());
- }
-
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Long());
- }
-
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Float());
- }
-
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Double());
- }
-
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::String());
- }
-
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Bool());
- }
-
- case type::Descriptor::eDateTime:
- {
- auto t = type::DateTime::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Dict());
- }
-
- default:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
- }
-
- void initializeRandomly(data::VariantPtr& data, const type::VariantPtr& type, bool use_existing_data = true) const
- {
- if (!use_existing_data)
- {
- data = generateEmptyAronDataFromType(type);
- }
- if (!data)
- {
- if (type->getMaybe() == type::Maybe::eNone)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The data is null but the type is not a maybe type. This is not valid.");
- }
- return;
- }
-
- // Containers
- type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eAnyObject: [[fallthrough]];
- case type::Descriptor::eObject:
- {
- auto t = type::Object::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- auto d = data::Float::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- auto d = data::Double::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- auto d = data::String::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- auto d = data::Bool::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDateTime:
- {
- auto t = type::DateTime::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
-
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Object& type, bool use_existing_data = true) const
- {
- for (auto& [key, nextData] : data->getElements())
- {
- initializeRandomly(nextData, type.getMemberTypes()[key], use_existing_data);
- data->removeElement(key);
- data->addElement(key, nextData);
- }
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Dict& type, bool use_existing_data = true) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- std::set<std::string> usedKeys;
- for (int i = 0; i < numElements; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType(), use_existing_data);
- data->addElement(key, newData);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Tuple& type, bool use_existing_data = true) const
- {
- std::vector<data::VariantPtr> newElements;
-
- unsigned int i = 0;
- for (auto& nextData : data->getElements())
- {
- initializeRandomly(nextData, type.getAcceptedType(i++), use_existing_data);
- newElements.push_back(nextData);
- }
-
- data->clear();
- for (const auto& el : newElements)
- {
- data->addElement(el);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Pair& type, bool use_existing_data = true) const
- {
- data::VariantPtr first = data->getElement(0);
- data::VariantPtr second = data->getElement(1);
- initializeRandomly(first, type.getFirstAcceptedType(), use_existing_data);
- initializeRandomly(second, type.getSecondAcceptedType(), use_existing_data);
-
- data->clear();
- data->addElement(first);
- data->addElement(second);
- }
-
- void initializeRandomly(data::ListPtr& data, const type::List& type, bool use_existing_data = true) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- for (int i = 0; i < numElements; ++i)
- {
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType(), use_existing_data);
- data->addElement(newData);
- }
- }
-
- void initializeRandomly(data::NDArrayPtr& data, const type::Variant& type) const
- {
- std::vector<int> dims = data->getShape();
- if (!dims.empty())
- {
- int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
- std::vector<unsigned char> blob = util::generateRandomBlob(bytes);
- data->setData(bytes, blob.data());
- }
- }
-
- void initializeRandomly(data::IntPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::LongPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::FloatPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::DoublePtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::BoolPtr& data, const type::Variant& type) const
- {
- data->setValue(util::fiftyPercentChance());
- }
-
- void initializeRandomly(data::StringPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandomWord());
- }
-
- void initializeRandomly(data::DictPtr& data, const type::DateTime& type) const
- {
- //data->setValue(util::generateRandomWord());
- }
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
index 48c91d42f..e166ab432 100644
--- a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
@@ -245,14 +245,6 @@ namespace armarx::aron::type
last_returned = w.writeString(maybe, p);
};
- void visitDateTime(ReaderInputType& o) final
- {
- type::Maybe maybe;
- Path p;
- r.readDateTime(o, maybe, p);
- last_returned = w.writeDateTime(maybe, p);
- };
-
void visitUnknown(ReaderInputType& o) final
{
if (!r.readNull(o))
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
index ebe518169..790a0d9fb 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
@@ -96,9 +96,6 @@ namespace armarx::aron::type
/// Extract information from an bool type
virtual void readBool(const InputType& input, type::Maybe& maybe, Path& p) = 0;
- /// Extract information from an time type
- virtual void readDateTime(const InputType& input, type::Maybe& maybe, Path& p) = 0;
-
/// Extract information from an time type
virtual void readAnyObject(const InputType& input, type::Maybe& maybe, Path& p) = 0;
@@ -110,7 +107,7 @@ namespace armarx::aron::type
}
// Convenience methods without path
- void readObject(const InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe)
+ /*void readObject(const InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe)
{
Path p;
return readObject(input, name, memberTypes, maybe, p);
@@ -212,11 +209,11 @@ namespace armarx::aron::type
return readBool(input, maybe, p);
}
- void readDateTime(const InputType& input, type::Maybe& maybe)
+ void readAnyObject(const InputType& input, type::any::AnyObjectType& t, type::Maybe& maybe)
{
Path p;
- return readDateTime(input, maybe, p);
- }
+ return readBool(input, t, maybe, p);
+ }*/
};
template <class T>
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
index b95d17a48..5cba5dd67 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
@@ -97,9 +97,6 @@ namespace armarx::aron::type
/// Construct a bool from the params
virtual ReturnType writeBool(const type::Maybe maybe, const Path& p) = 0;
- /// Construct a time from the params
- virtual ReturnType writeDateTime(const type::Maybe maybe, const Path& p) = 0;
-
/// Construct a time from the params
virtual ReturnType writeAnyObject(const type::Maybe maybe, const Path& p) = 0;
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h b/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
index 59484fd35..a3dbadf76 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
@@ -77,84 +77,83 @@ namespace armarx::aron::type::rw::json
namespace conversion
{
const std::map<type::Descriptor, std::string> Descriptor2String = {
- {type::Descriptor::eDict, rw::json::constantes::DICT_TYPENAME_SLUG},
- {type::Descriptor::eList, rw::json::constantes::LIST_TYPENAME_SLUG},
- {type::Descriptor::ePair, rw::json::constantes::PAIR_TYPENAME_SLUG},
- {type::Descriptor::eTuple, rw::json::constantes::TUPLE_TYPENAME_SLUG},
- {type::Descriptor::eObject, rw::json::constantes::OBJECT_TYPENAME_SLUG},
- {type::Descriptor::eNDArray, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
- {type::Descriptor::eMatrix, rw::json::constantes::MATRIX_TYPENAME_SLUG},
- {type::Descriptor::eImage, rw::json::constantes::IMAGE_TYPENAME_SLUG},
- {type::Descriptor::ePointCloud, rw::json::constantes::POINT_CLOUD_TYPENAME_SLUG},
- {type::Descriptor::eQuaternion, rw::json::constantes::QUATERNION_TYPENAME_SLUG},
- {type::Descriptor::eIntEnum, rw::json::constantes::INT_ENUM_TYPENAME_SLUG},
- {type::Descriptor::eInt, rw::json::constantes::INT_TYPENAME_SLUG},
- {type::Descriptor::eLong, rw::json::constantes::LONG_TYPENAME_SLUG},
- {type::Descriptor::eFloat, rw::json::constantes::FLOAT_TYPENAME_SLUG},
- {type::Descriptor::eDouble, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
- {type::Descriptor::eBool, rw::json::constantes::BOOL_TYPENAME_SLUG},
- {type::Descriptor::eString, rw::json::constantes::STRING_TYPENAME_SLUG},
- {type::Descriptor::eDateTime, rw::json::constantes::TIME_TYPENAME_SLUG},
- {type::Descriptor::eAnyObject, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG}
+ {type::Descriptor::DICT, rw::json::constantes::DICT_TYPENAME_SLUG},
+ {type::Descriptor::LIST, rw::json::constantes::LIST_TYPENAME_SLUG},
+ {type::Descriptor::PAIR, rw::json::constantes::PAIR_TYPENAME_SLUG},
+ {type::Descriptor::TUPLE, rw::json::constantes::TUPLE_TYPENAME_SLUG},
+ {type::Descriptor::OBJECT, rw::json::constantes::OBJECT_TYPENAME_SLUG},
+ {type::Descriptor::NDARRAY, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
+ {type::Descriptor::MATRIX, rw::json::constantes::MATRIX_TYPENAME_SLUG},
+ {type::Descriptor::IMAGE, rw::json::constantes::IMAGE_TYPENAME_SLUG},
+ {type::Descriptor::POINTCLOUD, rw::json::constantes::POINT_CLOUD_TYPENAME_SLUG},
+ {type::Descriptor::QUATERNION, rw::json::constantes::QUATERNION_TYPENAME_SLUG},
+ {type::Descriptor::INT_ENUM, rw::json::constantes::INT_ENUM_TYPENAME_SLUG},
+ {type::Descriptor::INT, rw::json::constantes::INT_TYPENAME_SLUG},
+ {type::Descriptor::LONG, rw::json::constantes::LONG_TYPENAME_SLUG},
+ {type::Descriptor::FLOAT, rw::json::constantes::FLOAT_TYPENAME_SLUG},
+ {type::Descriptor::DOUBLE, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
+ {type::Descriptor::BOOL, rw::json::constantes::BOOL_TYPENAME_SLUG},
+ {type::Descriptor::STRING, rw::json::constantes::STRING_TYPENAME_SLUG},
+ {type::Descriptor::ANY_OBJECT, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG}
};
const auto String2Descriptor = aron::conversion::util::InvertMap(Descriptor2String);
const std::map<type::Maybe, std::string> Maybe2String =
{
- {type::Maybe::eNone, "type::maybe::none"},
- {type::Maybe::eOptional, "type::maybe::optional"},
- {type::Maybe::eRawPointer, "type::maybe::raw_ptr"},
- {type::Maybe::eSharedPointer, "type::maybe::shared_ptr"},
- {type::Maybe::eUniquePointer, "type::maybe::unique_ptr"}
+ {type::Maybe::NONE, "type::maybe::NONE"},
+ {type::Maybe::OPTIONAL, "type::maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "type::maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "type::maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "type::maybe::UNIQUE_PTR"}
};
const auto String2Maybe = aron::conversion::util::InvertMap(Maybe2String);
const std::map<type::ndarray::ElementType, std::string> NDArrayType2String =
{
- {type::ndarray::ElementType::int8, "type::ndarray::int8"},
- {type::ndarray::ElementType::int16, "type::ndarray::int16"},
- {type::ndarray::ElementType::int32, "type::ndarray::int32"},
- {type::ndarray::ElementType::uint8, "type::ndarray::uint8"},
- {type::ndarray::ElementType::uint16, "type::ndarray::uint16"},
- {type::ndarray::ElementType::uint32, "type::ndarray::uint32"},
- {type::ndarray::ElementType::float32, "type::ndarray::float32"},
- {type::ndarray::ElementType::float64, "type::ndarray::float64"}
+ {type::ndarray::ElementType::INT8, "type::ndarray::INT8"},
+ {type::ndarray::ElementType::INT16, "type::ndarray::INT16"},
+ {type::ndarray::ElementType::INT32, "type::ndarray::INT32"},
+ {type::ndarray::ElementType::UINT8, "type::ndarray::UINT8"},
+ {type::ndarray::ElementType::UINT16, "type::ndarray::UINT16"},
+ {type::ndarray::ElementType::UINT32, "type::ndarray::UINT32"},
+ {type::ndarray::ElementType::FLOAT32, "type::ndarray::FLOAT32"},
+ {type::ndarray::ElementType::FLOAT64, "type::ndarray::FLOAT64"}
};
const auto String2NDArrayType = aron::conversion::util::InvertMap(NDArrayType2String);
const std::map<type::matrix::ElementType, std::string> MatrixType2String =
{
- {type::matrix::ElementType::int16, "type::matrix::int16"},
- {type::matrix::ElementType::int32, "type::matrix::int32"},
- {type::matrix::ElementType::int64, "type::matrix::int64"},
- {type::matrix::ElementType::float32, "type::matrix::float32"},
- {type::matrix::ElementType::float64, "type::matrix::float64"}
+ {type::matrix::ElementType::INT16, "type::matrix::INT16"},
+ {type::matrix::ElementType::INT32, "type::matrix::INT32"},
+ {type::matrix::ElementType::INT64, "type::matrix::INT64"},
+ {type::matrix::ElementType::FLOAT32, "type::matrix::FLOAT32"},
+ {type::matrix::ElementType::FLOAT64, "type::matrix::FLOAT64"}
};
const auto String2MatrixType = aron::conversion::util::InvertMap(MatrixType2String);
const std::map<type::quaternion::ElementType, std::string> QuaternionType2String =
{
- {type::quaternion::ElementType::float32, "type::quaternion::float32"},
- {type::quaternion::ElementType::float64, "type::quaternion::float64"}
+ {type::quaternion::ElementType::FLOAT32, "type::quaternion::FLOAT32"},
+ {type::quaternion::ElementType::FLOAT64, "type::quaternion::FLOAT64"}
};
const auto String2QuaternionType = aron::conversion::util::InvertMap(QuaternionType2String);
const std::map<type::image::PixelType, std::string> PixelType2String =
{
- {type::image::PixelType::rgb24, "type::image::rgb24"},
- {type::image::PixelType::depth32, "type::image::depth32"}
+ {type::image::PixelType::RGB24, "type::image::RGB24"},
+ {type::image::PixelType::DEPTH32, "type::image::DEPTH32"}
};
const auto String2PixelType = aron::conversion::util::InvertMap(PixelType2String);
const std::map<type::pointcloud::VoxelType, std::string> VoxelType2String =
{
- {type::pointcloud::VoxelType::PointXYZ, "type::pointcloud::pointxyz"},
- {type::pointcloud::VoxelType::PointXYZI, "type::pointcloud::pointxyzi"},
- {type::pointcloud::VoxelType::PointXYZL, "type::pointcloud::pointxyzl"},
- {type::pointcloud::VoxelType::PointXYZRGB, "type::pointcloud::pointxyzrgb"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "type::pointcloud::pointxyzrgba"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "type::pointcloud::pointxyzrgbl"},
- {type::pointcloud::VoxelType::PointXYZHSV, "type::pointcloud::pointxyzhsv"}
+ {type::pointcloud::VoxelType::POINT_XYZ, "type::pointcloud::POINT_XYZ"},
+ {type::pointcloud::VoxelType::POINT_XYZI, "type::pointcloud::POINT_XYZI"},
+ {type::pointcloud::VoxelType::POINT_XYZL, "type::pointcloud::POINT_XYZL"},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, "type::pointcloud::POINT_XYZRGB"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, "type::pointcloud::POINT_XYZRGBA"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, "type::pointcloud::POINT_XYZRGBL"},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, "type::pointcloud::POINT_XYZHSV"}
};
const auto String2VoxelType = aron::conversion::util::InvertMap(VoxelType2String);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
index f48d2cd43..028b6681c 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -211,13 +211,6 @@ namespace armarx::aron::type::reader
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
}
- void NlohmannJSONReader::readDateTime(const nlohmann::json& input, type::Maybe& maybe, Path& p)
- {
- getAronMetaInformationForType(input, rw::json::constantes::TIME_TYPENAME_SLUG, p);
-
- maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- }
-
void NlohmannJSONReader::readAnyObject(const nlohmann::json& input, type::Maybe& maybe, Path& p)
{
getAronMetaInformationForType(input, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG, p);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
index 252c8ce4a..3775977b4 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -41,27 +41,26 @@ namespace armarx::aron::type::reader
type::Descriptor getDescriptor(InputType& input) final;
- void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p) override;
- void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p) override;
- void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p) override;
+ void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p) override;
- void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readInt(InputType& input, type::Maybe& maybe, Path& p) override;
- void readLong(InputType& input, type::Maybe& maybe, Path& p) override;
- void readFloat(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDouble(InputType& input, type::Maybe& maybe, Path& p) override;
- void readString(InputType& input, type::Maybe& maybe, Path& p) override;
- void readBool(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDateTime(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readInt(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readLong(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readFloat(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDouble(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readString(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readBool(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
void readAnyObject(InputType& input, type::Maybe& maybe, Path& p) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
index 44ed7f19d..452f240a5 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
@@ -209,15 +209,6 @@ namespace armarx::aron::type::reader
p = o->getPath();
}
- void VariantReader::readDateTime(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
- {
- ARMARX_CHECK_NOT_NULL(input);
- auto o = type::DateTime::DynamicCastAndCheck(input);
-
- maybe = o->getMaybe();
- p = o->getPath();
- }
-
void VariantReader::readAnyObject(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
{
ARMARX_CHECK_NOT_NULL(input);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
index 4edd6b41b..5b9d592c0 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
@@ -42,28 +42,27 @@ namespace armarx::aron::type::reader
type::Descriptor getDescriptor(InputType& input) final;
- void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p) override;
- void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p) override;
- void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p) override;
+ void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p) override;
- void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readInt(InputType& input, type::Maybe& maybe, Path& p) override;
- void readLong(InputType& input, type::Maybe& maybe, Path& p) override;
- void readFloat(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDouble(InputType& input, type::Maybe& maybe, Path& p) override;
- void readString(InputType& input, type::Maybe& maybe, Path& p) override;
- void readBool(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDateTime(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readInt(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readLong(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readFloat(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDouble(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readString(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readBool(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readAnyObject(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readAnyObject(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index e44122f0f..159c604b1 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -203,13 +203,6 @@ namespace armarx::aron::type::writer
return o;
}
- nlohmann::json NlohmannJSONWriter::writeDateTime(const type::Maybe maybe, const Path& p)
- {
- nlohmann::json o;
- setupAronMetaInformationForType(o, rw::json::constantes::TIME_TYPENAME_SLUG, maybe, p);
- return o;
- }
-
nlohmann::json NlohmannJSONWriter::writeAnyObject(const type::Maybe maybe, const Path& p)
{
nlohmann::json o;
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
index 4b2f0a2bb..25e89bdf0 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -61,7 +61,6 @@ namespace armarx::aron::type::writer
ReturnType writeDouble(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeString(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeBool(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeDateTime(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeAnyObject(const type::Maybe maybe, const Path& p = Path()) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
index 7b25cecc3..87af08395 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
@@ -163,13 +163,6 @@ namespace armarx::aron::type::writer
return o;
}
- aron::type::VariantPtr VariantWriter::writeDateTime(const type::Maybe maybe, const Path& p)
- {
- auto o = std::make_shared<type::DateTime>(p);
- o->setMaybe(maybe);
- return o;
- }
-
aron::type::VariantPtr VariantWriter::writeAnyObject(const type::Maybe maybe, const Path& p)
{
auto o = std::make_shared<type::AnyObject>(p);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
index cfb81f32d..92fea0d71 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
@@ -57,7 +57,6 @@ namespace armarx::aron::type::writer
ReturnType writeDouble(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeString(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeBool(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeDateTime(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeAnyObject(const type::Maybe maybe, const Path& p = Path()) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/All.h b/source/RobotAPI/libraries/aron/core/type/variant/All.h
index 9ea6d08e1..46934fb07 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/All.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/All.h
@@ -5,7 +5,6 @@
#include "enum/All.h"
#include "primitive/All.h"
#include "any/All.h"
-#include "dto/All.h"
/**
* A convenience header to include all aron files (full include, not forward declared)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
index 0baad531e..405a5e748 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
@@ -37,26 +37,25 @@ namespace armarx::aron::type
auto descriptor = type::Aron2Descriptor(aron);
switch(descriptor)
{
- case type::Descriptor::eList: return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron), path);
- case type::Descriptor::eDict: return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron), path);
- case type::Descriptor::ePair: return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron), path);
- case type::Descriptor::eTuple: return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron), path);
- case type::Descriptor::eObject: return std::make_unique<type::Object>(dynamic_cast<const type::dto::AronObject&>(aron), path);
- case type::Descriptor::eNDArray: return std::make_unique<type::NDArray>(dynamic_cast<const type::dto::NDArray&>(aron), path);
- case type::Descriptor::eMatrix: return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron), path);
- case type::Descriptor::eImage: return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron), path);
- case type::Descriptor::ePointCloud: return std::make_unique<type::PointCloud>(dynamic_cast<const type::dto::PointCloud&>(aron), path);
- case type::Descriptor::eQuaternion: return std::make_unique<type::Quaternion>(dynamic_cast<const type::dto::Quaternion&>(aron), path);
- case type::Descriptor::eIntEnum: return std::make_unique<type::IntEnum>(dynamic_cast<const type::dto::IntEnum&>(aron), path);
- case type::Descriptor::eInt: return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron), path);
- case type::Descriptor::eLong: return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron), path);
- case type::Descriptor::eFloat: return std::make_unique<type::Float>(dynamic_cast<const type::dto::AronFloat&>(aron), path);
- case type::Descriptor::eDouble: return std::make_unique<type::Double>(dynamic_cast<const type::dto::AronDouble&>(aron), path);
- case type::Descriptor::eString: return std::make_unique<type::String>(dynamic_cast<const type::dto::AronString&>(aron), path);
- case type::Descriptor::eBool: return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron), path);
- case type::Descriptor::eDateTime: return std::make_unique<type::DateTime>(dynamic_cast<const type::dto::AronDateTime&>(aron), path);
- case type::Descriptor::eAnyObject: return std::make_unique<type::AnyObject>(dynamic_cast<const type::dto::AnyObject&>(aron), path);
- case type::Descriptor::eUnknown: break;
+ case type::Descriptor::LIST: return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron), path);
+ case type::Descriptor::DICT: return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron), path);
+ case type::Descriptor::PAIR: return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron), path);
+ case type::Descriptor::TUPLE: return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron), path);
+ case type::Descriptor::OBJECT: return std::make_unique<type::Object>(dynamic_cast<const type::dto::AronObject&>(aron), path);
+ case type::Descriptor::NDARRAY: return std::make_unique<type::NDArray>(dynamic_cast<const type::dto::NDArray&>(aron), path);
+ case type::Descriptor::MATRIX: return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron), path);
+ case type::Descriptor::IMAGE: return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron), path);
+ case type::Descriptor::POINTCLOUD: return std::make_unique<type::PointCloud>(dynamic_cast<const type::dto::PointCloud&>(aron), path);
+ case type::Descriptor::QUATERNION: return std::make_unique<type::Quaternion>(dynamic_cast<const type::dto::Quaternion&>(aron), path);
+ case type::Descriptor::INT_ENUM: return std::make_unique<type::IntEnum>(dynamic_cast<const type::dto::IntEnum&>(aron), path);
+ case type::Descriptor::INT: return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron), path);
+ case type::Descriptor::LONG: return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron), path);
+ case type::Descriptor::FLOAT: return std::make_unique<type::Float>(dynamic_cast<const type::dto::AronFloat&>(aron), path);
+ case type::Descriptor::DOUBLE: return std::make_unique<type::Double>(dynamic_cast<const type::dto::AronDouble&>(aron), path);
+ case type::Descriptor::STRING: return std::make_unique<type::String>(dynamic_cast<const type::dto::AronString&>(aron), path);
+ case type::Descriptor::BOOL: return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron), path);
+ case type::Descriptor::ANY_OBJECT: return std::make_unique<type::AnyObject>(dynamic_cast<const type::dto::AnyObject&>(aron), path);
+ case type::Descriptor::UNKNOWN: break;
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Got an unknown descriptor", std::to_string((int) descriptor) + " aka " + defaultconversion::string::Descriptor2String.at(descriptor), path);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp b/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
index bd53947d9..78a17d080 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
AnyObject::AnyObject(const Path& path) :
- detail::AnyVariant<type::dto::AnyObject, AnyObject>(type::Descriptor::eAnyObject, path)
+ detail::AnyVariant<type::dto::AnyObject, AnyObject>(type::Descriptor::ANY_OBJECT, path)
{
}
AnyObject::AnyObject(const type::dto::AnyObject&o, const Path& path) :
- detail::AnyVariant<type::dto::AnyObject, AnyObject>(o, type::Descriptor::eAnyObject, path)
+ detail::AnyVariant<type::dto::AnyObject, AnyObject>(o, type::Descriptor::ANY_OBJECT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
index 3919bf844..482c762d1 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
@@ -29,14 +29,14 @@ namespace armarx::aron::type
{
// constructors
Dict::Dict(const VariantPtr& acceptedType, const Path& path) :
- detail::ContainerVariant<type::dto::Dict, Dict>(type::Descriptor::eDict, path),
+ detail::ContainerVariant<type::dto::Dict, Dict>(type::Descriptor::DICT, path),
acceptedType(acceptedType)
{
aron->acceptedType = acceptedType->toAronDTO();
}
Dict::Dict(const type::dto::Dict& o, const Path& path) :
- detail::ContainerVariant<type::dto::Dict, Dict>(o, type::Descriptor::eDict, path),
+ detail::ContainerVariant<type::dto::Dict, Dict>(o, type::Descriptor::DICT, path),
acceptedType(FromAronDTO(*o.acceptedType, path.withAcceptedType()))
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
index 807d64fed..7ee464bc1 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
@@ -28,14 +28,14 @@ namespace armarx::aron::type
{
// constructors
List::List(const VariantPtr& acceptedType, const Path& path) :
- detail::ContainerVariant<type::dto::List, List>(type::Descriptor::eList, path),
+ detail::ContainerVariant<type::dto::List, List>(type::Descriptor::LIST, path),
acceptedType(acceptedType)
{
aron->acceptedType = acceptedType->toAronDTO();
}
List::List(const type::dto::List& o, const Path& path) :
- detail::ContainerVariant<type::dto::List, List>(o, type::Descriptor::eList, path),
+ detail::ContainerVariant<type::dto::List, List>(o, type::Descriptor::LIST, path),
acceptedType(FromAronDTO(*o.acceptedType, path.withAcceptedType()))
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
index eb27eedcd..526cc9f05 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -34,7 +34,7 @@ namespace armarx::aron::type
// constructors
Object::Object(const std::string& name, const std::vector<std::string>& templates, const std::vector<std::string>& templateInstantiations, const std::map<std::string, VariantPtr>& m, const Path& path) :
- detail::ContainerVariant<type::dto::AronObject, Object>(type::Descriptor::eObject, path),
+ detail::ContainerVariant<type::dto::AronObject, Object>(type::Descriptor::OBJECT, path),
memberTypes(m)
{
aron->templates = templates;
@@ -47,7 +47,7 @@ namespace armarx::aron::type
}
Object::Object(const type::dto::AronObject& o, const Path& path) :
- detail::ContainerVariant<type::dto::AronObject, Object>(o, type::Descriptor::eObject, path)
+ detail::ContainerVariant<type::dto::AronObject, Object>(o, type::Descriptor::OBJECT, path)
{
setObjectName(o.objectName);
for (const auto& [key, t] : o.elementTypes)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
index 48e0c6f4d..40b3cac3b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
@@ -29,7 +29,7 @@ namespace armarx::aron::type
{
// constructors
Pair::Pair(const VariantPtr& acceptedType1, const VariantPtr& acceptedType2, const Path& path) :
- detail::ContainerVariant<type::dto::Pair, Pair>(type::Descriptor::ePair, path),
+ detail::ContainerVariant<type::dto::Pair, Pair>(type::Descriptor::PAIR, path),
acceptedType1(acceptedType1),
acceptedType2(acceptedType2)
{
@@ -38,7 +38,7 @@ namespace armarx::aron::type
}
Pair::Pair(const type::dto::Pair& o, const Path& path) :
- detail::ContainerVariant<type::dto::Pair, Pair>(o, type::Descriptor::ePair, path),
+ detail::ContainerVariant<type::dto::Pair, Pair>(o, type::Descriptor::PAIR, path),
acceptedType1(FromAronDTO(*o.acceptedType1, path.withAcceptedTypeIndex(0))),
acceptedType2(FromAronDTO(*o.acceptedType2, path.withAcceptedTypeIndex(1)))
{
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
index 9fdca45e7..0879de17b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::type
{
// constructors
Tuple::Tuple(const std::vector<VariantPtr>& acceptedTypes, const Path& path) :
- detail::ContainerVariant<type::dto::Tuple, Tuple>(type::Descriptor::eTuple, path),
+ detail::ContainerVariant<type::dto::Tuple, Tuple>(type::Descriptor::TUPLE, path),
acceptedTypes(acceptedTypes)
{
for (const auto& acceptedType : acceptedTypes)
@@ -40,7 +40,7 @@ namespace armarx::aron::type
}
Tuple::Tuple(const type::dto::Tuple& o, const Path& path) :
- detail::ContainerVariant<type::dto::Tuple, Tuple>(o, type::Descriptor::eTuple, path)
+ detail::ContainerVariant<type::dto::Tuple, Tuple>(o, type::Descriptor::TUPLE, path)
{
unsigned int i = 0;
for (const auto& t : o.elementTypes)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/dto/All.h b/source/RobotAPI/libraries/aron/core/type/variant/dto/All.h
deleted file mode 100644
index 930e1a3cd..000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/dto/All.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#pragma once
-
-#include "DateTime.h"
-
-/**
- * A convenience header to include all dto aron files (full include, not forward declared)
- */
-namespace armarx::aron::type
-{
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.cpp b/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.cpp
deleted file mode 100644
index 655137a7c..000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-// STD/STL
-#include <string>
-#include <map>
-
-// Header
-#include "DateTime.h"
-
-namespace armarx::aron::type
-{
- /* constructors */
- DateTime::DateTime(const Path& path) :
- detail::DtoVariant<type::dto::AronDateTime, DateTime>(type::Descriptor::eDateTime, path)
- {
- }
-
- DateTime::DateTime(const type::dto::AronDateTime&o, const Path& path) :
- detail::DtoVariant<type::dto::AronDateTime, DateTime>(o, type::Descriptor::eDateTime, path)
- {
- }
-
- /* public member functions */
- type::dto::AronDateTimePtr DateTime::toDateTimeDTO() const
- {
- return this->aron;
- }
-
- /* virtual implementations */
- std::string DateTime::getShortName() const
- {
- return "DateTime";
- }
-
- std::string DateTime::getFullName() const
- {
- return "armarx::aron::type::DateTime";
- }
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.h b/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.h
deleted file mode 100644
index 1c851e54c..000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/dto/DateTime.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
- * Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-// STD/STL
-#include <string>
-
-// Base class
-#include "../detail/DtoVariant.h"
-
-namespace armarx::aron::type
-{
- /**
- * @brief The Time class. It represents the time type
- */
- class DateTime :
- public detail::DtoVariant<type::dto::AronDateTime, DateTime>
- {
- public:
- /* constructors */
- DateTime(const Path& = Path());
- DateTime(const type::dto::AronDateTime&, const Path& = Path());
-
- type::dto::AronDateTimePtr toDateTimeDTO() const;
-
- /* virtual implementations */
- virtual std::string getShortName() const override;
- virtual std::string getFullName() const override;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
index 734509d9e..5ccace227 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
@@ -28,14 +28,14 @@ namespace armarx::aron::type
{
// constructors
IntEnum::IntEnum(const std::string& name, const std::map<std::string, int>& valueMap, const Path& path) :
- detail::EnumVariant<type::dto::IntEnum, IntEnum>(type::Descriptor::eIntEnum, path)
+ detail::EnumVariant<type::dto::IntEnum, IntEnum>(type::Descriptor::INT_ENUM, path)
{
aron->enumName = name;
aron->acceptedValues = valueMap;
}
IntEnum::IntEnum(const type::dto::IntEnum& o, const Path& path) :
- detail::EnumVariant<type::dto::IntEnum, IntEnum>(o, type::Descriptor::eIntEnum, path)
+ detail::EnumVariant<type::dto::IntEnum, IntEnum>(o, type::Descriptor::INT_ENUM, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
index 0bf79c5b4..ce0d34761 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
@@ -30,7 +30,6 @@ namespace armarx::aron::type
using DoublePtr = std::shared_ptr<class Double>;
using StringPtr = std::shared_ptr<class String>;
using BoolPtr = std::shared_ptr<class Bool>;
- using DateTimePtr = std::shared_ptr<class DateTime>;
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
index 987a85ce2..f5eed5e4e 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
@@ -33,21 +33,21 @@ namespace armarx::aron::type
{
const std::map<image::PixelType, std::string> Image::Pixeltype2String
{
- {image::PixelType::rgb24, "rgb24"},
- {image::PixelType::depth32, "depth32"}
+ {image::PixelType::RGB24, "RGB24"},
+ {image::PixelType::DEPTH32, "DEPTH32"}
};
const std::map<std::string, image::PixelType> Image::String2Pixeltype = conversion::util::InvertMap(Pixeltype2String);
// constructors
Image::Image(const Path& path) :
- detail::NDArrayVariant<type::dto::Image, Image>(type::Descriptor::eImage, path)
+ detail::NDArrayVariant<type::dto::Image, Image>(type::Descriptor::IMAGE, path)
{
}
Image::Image(const type::dto::Image& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Image, Image>(o, type::Descriptor::eImage, path)
+ detail::NDArrayVariant<type::dto::Image, Image>(o, type::Descriptor::IMAGE, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
index 18d57ce03..b7657a871 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
@@ -31,23 +31,23 @@ namespace armarx::aron::type
{
const std::map<matrix::ElementType, std::string> Matrix::Elementtype2String
{
- {matrix::ElementType::int16, "int16"},
- {matrix::ElementType::int32, "int32"},
- {matrix::ElementType::int64, "int64"},
- {matrix::ElementType::float32, "float32"},
- {matrix::ElementType::float64, "float64"}
+ {matrix::ElementType::INT16, "INT16"},
+ {matrix::ElementType::INT32, "INT32"},
+ {matrix::ElementType::INT64, "INT64"},
+ {matrix::ElementType::FLOAT32, "FLOAT32"},
+ {matrix::ElementType::FLOAT64, "FLOAT64"}
};
const std::map<std::string, matrix::ElementType> Matrix::String2Elementtype = conversion::util::InvertMap(Elementtype2String);
// constructors
Matrix::Matrix(const Path& path) :
- detail::NDArrayVariant<type::dto::Matrix, Matrix>(type::Descriptor::eMatrix, path)
+ detail::NDArrayVariant<type::dto::Matrix, Matrix>(type::Descriptor::MATRIX, path)
{
}
Matrix::Matrix(const type::dto::Matrix& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Matrix, Matrix>(o, type::Descriptor::eMatrix, path)
+ detail::NDArrayVariant<type::dto::Matrix, Matrix>(o, type::Descriptor::MATRIX, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
index cbbf517ba..bddbcf91c 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
@@ -28,12 +28,12 @@ namespace armarx::aron::type
{
// constructors
NDArray::NDArray(const Path& path) :
- detail::NDArrayVariant<type::dto::NDArray, NDArray>(type::Descriptor::eNDArray, path)
+ detail::NDArrayVariant<type::dto::NDArray, NDArray>(type::Descriptor::NDARRAY, path)
{
}
NDArray::NDArray(const type::dto::NDArray& o, const Path& path) :
- detail::NDArrayVariant<type::dto::NDArray, NDArray>(o, type::Descriptor::eNDArray, path)
+ detail::NDArrayVariant<type::dto::NDArray, NDArray>(o, type::Descriptor::NDARRAY, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
index 10a347302..c28a750e2 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
@@ -28,25 +28,25 @@ namespace armarx::aron::type
{
const std::map<pointcloud::VoxelType, std::string> PointCloud::Voxeltype2String
{
- {pointcloud::VoxelType::PointXYZ, "PointXYZ"},
- {pointcloud::VoxelType::PointXYZI, "PointXYZI"},
- {pointcloud::VoxelType::PointXYZL, "PointXYZL"},
- {pointcloud::VoxelType::PointXYZRGB, "PointXYZRGB"},
- {pointcloud::VoxelType::PointXYZRGBL, "PointXYZRGBL"},
- {pointcloud::VoxelType::PointXYZRGBA, "PointXYZRGBA"},
- {pointcloud::VoxelType::PointXYZHSV, "PointXYZHSV"}
+ {pointcloud::VoxelType::POINT_XYZ, "POINT_XYZ"},
+ {pointcloud::VoxelType::POINT_XYZI, "POINT_XYZI"},
+ {pointcloud::VoxelType::POINT_XYZL, "POINT_XYZL"},
+ {pointcloud::VoxelType::POINT_XYZRGB, "POINT_XYZRGB"},
+ {pointcloud::VoxelType::POINT_XYZRGBL, "POINT_XYZRGBL"},
+ {pointcloud::VoxelType::POINT_XYZRGBA, "POINT_XYZRGBA"},
+ {pointcloud::VoxelType::POINT_XYZHSV, "POINT_XYZHSV"}
};
const std::map<std::string, pointcloud::VoxelType> PointCloud::String2Voxeltype = conversion::util::InvertMap(Voxeltype2String);
// constructors
PointCloud::PointCloud(const Path& path) :
- detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(type::Descriptor::ePointCloud, path)
+ detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(type::Descriptor::POINTCLOUD, path)
{
}
PointCloud::PointCloud(const type::dto::PointCloud& o, const Path& path) :
- detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(o, type::Descriptor::ePointCloud, path)
+ detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(o, type::Descriptor::POINTCLOUD, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
index 5457ee844..0e1ff22fc 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
@@ -30,19 +30,19 @@ namespace armarx::aron::type
{
const std::map<quaternion::ElementType, std::string> Quaternion::Elementtype2String =
{
- {quaternion::ElementType::float32, "float32"},
- {quaternion::ElementType::float64, "float64"}
+ {quaternion::ElementType::FLOAT32, "FLOAT32"},
+ {quaternion::ElementType::FLOAT64, "FLOAT64"}
};
const std::map<std::string, quaternion::ElementType> Quaternion::String2Elementtype = conversion::util::InvertMap(Elementtype2String);
// constructors
Quaternion::Quaternion(const Path& path) :
- detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(type::Descriptor::eQuaternion, path)
+ detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(type::Descriptor::QUATERNION, path)
{
}
Quaternion::Quaternion(const type::dto::Quaternion& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(o, type::Descriptor::eQuaternion, path)
+ detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(o, type::Descriptor::QUATERNION, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
index 9eca55904..fc5cdb5cb 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Bool::Bool(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronBool, Bool>(type::Descriptor::eBool, path)
+ detail::PrimitiveVariant<type::dto::AronBool, Bool>(type::Descriptor::BOOL, path)
{
}
Bool::Bool(const type::dto::AronBool&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronBool, Bool>(o, type::Descriptor::eBool, path)
+ detail::PrimitiveVariant<type::dto::AronBool, Bool>(o, type::Descriptor::BOOL, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
index 256e0a61f..e4fd415fe 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Double::Double(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronDouble, Double>(type::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<type::dto::AronDouble, Double>(type::Descriptor::DOUBLE, path)
{
}
Double::Double(const type::dto::AronDouble&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronDouble, Double>(o, type::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<type::dto::AronDouble, Double>(o, type::Descriptor::DOUBLE, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
index 3d08b5bda..45bbad7de 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Float::Float(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronFloat, Float>(type::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<type::dto::AronFloat, Float>(type::Descriptor::FLOAT, path)
{
}
Float::Float(const type::dto::AronFloat&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronFloat, Float>(o, type::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<type::dto::AronFloat, Float>(o, type::Descriptor::FLOAT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
index b371f53dd..6abe9850c 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Int::Int(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronInt, Int>(type::Descriptor::eInt, path)
+ detail::PrimitiveVariant<type::dto::AronInt, Int>(type::Descriptor::INT, path)
{
}
Int::Int(const type::dto::AronInt&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronInt, Int>(o, type::Descriptor::eInt, path)
+ detail::PrimitiveVariant<type::dto::AronInt, Int>(o, type::Descriptor::INT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
index 2654a773d..f7898bcf2 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Long::Long(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronLong, Long>(type::Descriptor::eLong, path)
+ detail::PrimitiveVariant<type::dto::AronLong, Long>(type::Descriptor::LONG, path)
{
}
Long::Long(const type::dto::AronLong&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronLong, Long>(o, type::Descriptor::eLong, path)
+ detail::PrimitiveVariant<type::dto::AronLong, Long>(o, type::Descriptor::LONG, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
index 1cced6991..0ede75062 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
String::String(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronString, String>(type::Descriptor::eString, path)
+ detail::PrimitiveVariant<type::dto::AronString, String>(type::Descriptor::STRING, path)
{
}
String::String(const type::dto::AronString&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronString, String>(o, type::Descriptor::eString, path)
+ detail::PrimitiveVariant<type::dto::AronString, String>(o, type::Descriptor::STRING, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
index b8f73bff0..a2f46088a 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
@@ -39,7 +39,7 @@ namespace armarx::aron::type
auto descriptor = v.getDescriptor(t);
switch (descriptor)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
v.visitListOnEnter(t);
auto acceptedType = v.getListAcceptedType(t);
@@ -47,7 +47,7 @@ namespace armarx::aron::type
v.visitListOnExit(t);
return;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
v.visitPairOnEnter(t);
auto acceptedTypes = v.getPairAcceptedTypes(t);
@@ -56,7 +56,7 @@ namespace armarx::aron::type
v.visitPairOnExit(t);
return;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
v.visitTupleOnEnter(t);
unsigned int i = 0;
@@ -68,7 +68,7 @@ namespace armarx::aron::type
v.visitTupleOnExit(t);
return;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
v.visitDictOnEnter(t);
auto acceptedType = v.getDictAcceptedType(t);
@@ -76,7 +76,7 @@ namespace armarx::aron::type
v.visitDictOnExit(t);
return;
}
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
v.visitObjectOnEnter(t);
for (const auto& [key, acceptedType] : v.getObjectElements(t))
@@ -86,35 +86,33 @@ namespace armarx::aron::type
v.visitObjectOnExit(t);
return;
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(t);
- case type::Descriptor::eDateTime:
- return v.visitDateTime(t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(t);
}
}
@@ -165,7 +163,6 @@ namespace armarx::aron::type
virtual void visitDouble(Input&) {};
virtual void visitBool(Input&) {};
virtual void visitString(Input&) {};
- virtual void visitDateTime(Input&) {};
virtual void visitAnyObject(Input&) {};
virtual void visitUnknown(Input&) {
throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
index 34cfbf7e4..9dfe2057d 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
@@ -44,45 +44,43 @@ namespace armarx::aron::type
auto descriptor = v.getDescriptor(t);
switch (descriptor)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
return v.visitObject(t);
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
return v.visitList(t);
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
return v.visitDict(t);
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
return v.visitPair(t);
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
return v.visitTuple(t);
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(t);
- case type::Descriptor::eDateTime:
- return v.visitDateTime(t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(t);
}
}
@@ -126,7 +124,6 @@ namespace armarx::aron::type
virtual void visitDouble(Input&) {};
virtual void visitBool(Input&) {};
virtual void visitString(Input&) {};
- virtual void visitDateTime(Input&) {};
virtual void visitAnyObject(Input&) {};
virtual void visitUnknown(Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~Visitor() = default;
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
index b26929640..d2b1c19a0 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
@@ -35,7 +35,7 @@ namespace armarx::aron::type
{
if (!n)
{
- return type::Descriptor::eUnknown;
+ return type::Descriptor::UNKNOWN;
}
return n->getDescriptor();
}
@@ -147,12 +147,6 @@ namespace armarx::aron::type
visitAronVariant(aron);
}
- void ConstVariantVisitor::visitDateTime(Input& i)
- {
- auto aron = type::DateTime::DynamicCastAndCheck(i);
- visitAronVariant(aron);
- }
-
void ConstVariantVisitor::visitAronVariant(const type::ObjectPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::DictPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::PairPtr&) {}
@@ -170,7 +164,6 @@ namespace armarx::aron::type
void ConstVariantVisitor::visitAronVariant(const type::DoublePtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::BoolPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::StringPtr&) {}
- void ConstVariantVisitor::visitAronVariant(const type::DateTimePtr&) {}
/****************************************************************************
* RecursiveVariantVisitor
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
index fa03254f8..e7e87fa45 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
@@ -60,7 +60,6 @@ namespace armarx::aron::type
void visitDouble(Input&) override;
void visitBool(Input&) override;
void visitString(Input&) override;
- void visitDateTime(Input&) override;
// Use these if you do not want to cast manually
virtual void visitAronVariant(const type::ObjectPtr&);
@@ -76,7 +75,6 @@ namespace armarx::aron::type
virtual void visitAronVariant(const type::IntEnumPtr&);
virtual void visitAronVariant(const type::IntPtr&);
virtual void visitAronVariant(const type::LongPtr&);
- virtual void visitAronVariant(const type::DateTimePtr&);
virtual void visitAronVariant(const type::FloatPtr&);
virtual void visitAronVariant(const type::DoublePtr&);
virtual void visitAronVariant(const type::BoolPtr&);
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 76347bf5a..b83ad843b 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -83,4 +83,26 @@ namespace armarx
(void) statusUpdate;
// If you want to use the status, implement this method!
}
+
+ skills::manager::dto::SkillDescriptionMapMap SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current ¤t)
+ {
+ skills::manager::dto::SkillDescriptionMapMap ret;
+ for (const auto& [n, s] : skillProviderMap)
+ {
+ skills::provider::dto::SkillDescriptionMap m = s->getSkillDescriptions();
+ ret.insert({n, m});
+ }
+ return ret;
+ }
+
+ skills::manager::dto::SkillStatusUpdateMapMap SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current ¤t)
+ {
+ skills::manager::dto::SkillStatusUpdateMapMap ret;
+ for (const auto& [n, s] : skillProviderMap)
+ {
+ skills::provider::dto::SkillStatusUpdateMap m = s->getSkillExecutionStatuses();
+ ret.insert({n, m});
+ }
+ return ret;
+ }
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index ba27d2bc1..e9c950c74 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -38,6 +38,9 @@ namespace armarx
void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t) override;
void abortSkill(const std::string& providerName, const std::string& skillName, const Ice::Current ¤t) override;
+ skills::manager::dto::SkillDescriptionMapMap getSkillDescriptions(const Ice::Current ¤t) override;
+ skills::manager::dto::SkillStatusUpdateMapMap getSkillExecutionStatuses(const Ice::Current ¤t) override;
+
private:
armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
index 617501515..d459b9af7 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
@@ -37,7 +37,7 @@ namespace armarx::skills
}
Skill::Status
- PeriodicSkill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ PeriodicSkill::main(const aron::data::DictPtr& params, const CallbackT& callback)
{
if(not initialize(params))
{
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
index 8c8f6c81c..6fb259f60 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
@@ -35,7 +35,7 @@ namespace armarx::skills
PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
protected:
- typename Skill::Status execute(const aron::data::DictPtr& params,
+ typename Skill::Status main(const aron::data::DictPtr& params,
const Skill::CallbackT& callback) final;
enum class Status
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
index 018095661..2b6fd6f6d 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
@@ -45,7 +45,7 @@ namespace armarx::skills
protected:
typename Skill::Status
- execute(const AronT& params, const Skill::CallbackT& callback) final
+ main(const AronT& params, const Skill::CallbackT& callback) final
{
if (not initialize(params))
{
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index c74910e43..c3265710f 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -11,20 +11,10 @@ namespace armarx
Logging::setTag("armarx::skills::" + description.skillName);
}
- std::thread Skill::installTimeoutCondition()
+ void Skill::installCondition(std::function<bool()>&& f, std::function<void()>&& cb)
{
- // start timeout check
- return std::thread{ [&](){
- if (description.timeoutMs <= 0) return;
- long skillStartedAt = IceUtil::Time::now().toMilliSeconds();
- while(running and !stopRequested())
- {
- auto now = IceUtil::Time::now().toMilliSeconds();
- if ((now - skillStartedAt) >= description.timeoutMs) notifyTimeoutReached();
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- }
- }
- };
+ std::lock_guard l(callbacksMutex);
+ callbacks.push_back({f, cb});
}
void Skill::notifyTimeoutReached()
@@ -54,9 +44,30 @@ namespace armarx
ARMARX_IMPORTANT << "Initializing Skill '" << description.skillName << "'";
// always called before execute (should not take longer than 100ms)
+ callbacks.clear();
running = true;
started = IceUtil::Time::now();
- timeoutCheck = installTimeoutCondition();
+
+ // install timeout condition
+ installCondition(
+ [&](){ return (IceUtil::Time::now().toMilliSeconds() - started.toMilliSeconds()) >= description.timeoutMs; },
+ [&](){ notifyTimeoutReached(); }
+ );
+
+ callbackThread = std::thread([&]()
+ {
+ while (running)
+ {
+ std::lock_guard l(callbacksMutex);
+ for (auto& p : callbacks)
+ {
+ auto& f = p.first;
+ auto& cb = p.second;
+ if (f()) cb();
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(50)); // check frequency
+ }
+ });
}
void Skill::exit(const aron::data::DictPtr& params)
@@ -67,14 +78,14 @@ namespace armarx
// always called after execute (should not take longer than 100ms)
running = false;
- if (timeoutCheck.joinable())
+ if (callbackThread.joinable())
{
- timeoutCheck.join();
+ callbackThread.join();
}
exited = IceUtil::Time::now();
}
- Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ Skill::Status Skill::main(const aron::data::DictPtr& params, const CallbackT& callback)
{
(void) params;
@@ -82,11 +93,11 @@ namespace armarx
return Status::Succeeded;
}
- Skill::Status Skill::initExecuteExit(const aron::data::DictPtr& params, const CallbackT& callback)
+ Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
{
this->reset();
this->init(params);
- auto ret = this->execute(params);
+ auto ret = this->main(params);
this->exit(params);
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index 90a923ce3..0ecb43166 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -43,10 +43,10 @@ namespace armarx
virtual void exit(const aron::data::DictPtr& params);
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ virtual Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
/// Do all methods at once.
- Status initExecuteExit(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
/// Override if you have special members that needs to be resetted. It is called before the skill ititializes
virtual void reset();
@@ -58,12 +58,16 @@ namespace armarx
virtual bool stopRequested() const;
private:
- /// install a condition as a seperate thread
- std::thread installTimeoutCondition();
+ /// install a condition is easy
+ void installCondition(std::function<bool()>&& f, std::function<void()>&& cb);
public:
const SkillDescription description;
+ /// active conditions
+ std::vector<std::pair<std::function<bool()>, std::function<void()>>> callbacks;
+ mutable std::mutex callbacksMutex;
+
/// running params
IceUtil::Time started = IceUtil::Time::milliSeconds(-1);
IceUtil::Time exited = IceUtil::Time::milliSeconds(-1);
@@ -78,7 +82,7 @@ namespace armarx
std::atomic_bool timeoutReached = false;
private:
- std::thread timeoutCheck;
+ std::thread callbackThread;
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index 68711db01..b922bc341 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -27,7 +27,7 @@ namespace armarx
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ virtual Status main(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
{
(void) params;
return Status::Succeeded;
@@ -43,19 +43,19 @@ namespace armarx
(void) params;
}
- Status initExecuteExit(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
{
- return Skill::initExecuteExit(params.toAron(), callback);
+ return Skill::execute(params.toAron(), callback);
}
/// Do not use anymore
- Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
+ Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
{
- Skill::execute(params, callback);
+ Skill::main(params, callback);
AronT p;
p.fromAron(params);
- return execute(p, callback);
+ return main(p, callback);
}
/// Do not use anymore
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index c6add6570..15cc6af55 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -54,7 +54,7 @@ namespace armarx
updateStatus(skills::provider::dto::Execution::Status::Running);
skill->init(aron_params);
- auto ret = skill->execute(aron_params, [&](const aron::data::DictPtr& update) { updateStatus(statusUpdate.status, update); });
+ auto ret = skill->main(aron_params, [&](const aron::data::DictPtr& update) { updateStatus(statusUpdate.status, update); });
skill->exit(aron_params);
switch (ret)
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
index 9b761b403..25f589aab 100644
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
@@ -5,7 +5,7 @@ namespace armarx
namespace skills::helper
{
- Skill::Status LambdaSkill::execute(const aron::data::DictPtr& data, const CallbackT& callback)
+ Skill::Status LambdaSkill::main(const aron::data::DictPtr& data, const CallbackT& callback)
{
(void) callback;
bool res = fun(data);
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
index 63f537d4c..0f65572ac 100644
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
@@ -18,7 +18,7 @@ namespace armarx
{};
protected:
- Skill::Status execute(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
+ Skill::Status main(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
private:
FunT fun;
--
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