From 015068195e4bb02e34579c0d428a271b23dfe72a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 22 Mar 2022 13:42:58 +0100
Subject: [PATCH] Add to/fromAron() for IceUtil::Time and move to correct
namespace
---
.../aron/common/aron_conversions/armarx.cpp | 192 +++++++++---------
.../aron/common/aron_conversions/armarx.h | 16 +-
2 files changed, 112 insertions(+), 96 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index 13535b244..402236902 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -1,116 +1,126 @@
#include "armarx.h"
+#include <IceUtil/Time.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-namespace armarx
+
+void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
{
+ bo = IceUtil::Time::microSeconds(dto);
+}
- /* PackagePath */
+void IceUtil::toAron(long& dto, const IceUtil::Time& bo)
+{
+ dto = bo.toMicroSeconds();
+}
- void fromAron(const arondto::PackagePath& dto, PackagePath& bo)
- {
- bo = {dto.package, dto.path};
- }
- void toAron(arondto::PackagePath& dto, const PackagePath& bo)
- {
- const data::PackagePath icedto = bo.serialize();
- dto.package = icedto.package;
- dto.path = icedto.path;
- }
+void IceUtil::fromAron(const IceUtil::Time& dto, armarx::DateTime& bo)
+{
+ bo = armarx::DateTime(armarx::Duration::MicroSeconds(dto.toMicroSeconds()));
+}
- void fromAron(const long& dto, IceUtil::Time& bo)
- {
- bo = IceUtil::Time::microSeconds(dto);
- }
+void IceUtil::toAron(IceUtil::Time& dto, const armarx::DateTime& bo)
+{
+ dto = IceUtil::Time::microSeconds(bo.toMicroSecondsSinceEpoch());
+}
- void toAron(long& dto, const IceUtil::Time& bo)
- {
- dto = bo.toMicroSeconds();
- }
- void fromAron(const arondto::ClockType& dto, ClockType& bo)
- {
- switch (dto.value)
- {
- case arondto::ClockType::Realtime:
- bo = ClockType::Realtime;
- break;
- case arondto::ClockType::Monotonic:
- bo = ClockType::Monotonic;
- break;
- case arondto::ClockType::Virtual:
- bo = ClockType::Virtual;
- break;
- case arondto::ClockType::Unknown:
- bo = ClockType::Unknown;
- break;
- }
- }
+/* PackagePath */
- void toAron(arondto::ClockType& dto, const ClockType& bo)
- {
- switch (bo)
- {
- case ClockType::Realtime:
- dto = arondto::ClockType::Realtime;
- break;
- case ClockType::Monotonic:
- dto = arondto::ClockType::Monotonic;
- break;
- case ClockType::Virtual:
- dto = arondto::ClockType::Virtual;
- break;
- case ClockType::Unknown:
- dto = arondto::ClockType::Unknown;
- break;
- }
- }
+void armarx::fromAron(const arondto::PackagePath& dto, PackagePath& bo)
+{
+ bo = {dto.package, dto.path};
+}
- void fromAron(const arondto::Duration& dto, Duration& bo)
- {
- bo = Duration::MicroSeconds(dto.microSeconds);
- }
+void armarx::toAron(arondto::PackagePath& dto, const PackagePath& bo)
+{
+ const data::PackagePath icedto = bo.serialize();
+ dto.package = icedto.package;
+ dto.path = icedto.path;
+}
- void toAron(arondto::Duration& dto, const Duration& bo)
- {
- dto.microSeconds = bo.toMicroSeconds();
- }
- void fromAron(const arondto::Frequency& dto, Frequency& bo)
+void armarx::fromAron(const arondto::ClockType& dto, ClockType& bo)
+{
+ switch (dto.value)
{
- Duration cycleDuration;
- fromAron(dto.cycleDuration, cycleDuration);
- bo = Frequency(cycleDuration);
+ case arondto::ClockType::Realtime:
+ bo = ClockType::Realtime;
+ break;
+ case arondto::ClockType::Monotonic:
+ bo = ClockType::Monotonic;
+ break;
+ case arondto::ClockType::Virtual:
+ bo = ClockType::Virtual;
+ break;
+ case arondto::ClockType::Unknown:
+ bo = ClockType::Unknown;
+ break;
}
+}
- void toAron(arondto::Frequency& dto, const Frequency& bo)
+void armarx::toAron(arondto::ClockType& dto, const ClockType& bo)
+{
+ switch (bo)
{
- arondto::Duration cycleDuration;
- toAron(cycleDuration, bo.toCycleDuration());
- dto.cycleDuration = cycleDuration;
+ case ClockType::Realtime:
+ dto = arondto::ClockType::Realtime;
+ break;
+ case ClockType::Monotonic:
+ dto = arondto::ClockType::Monotonic;
+ break;
+ case ClockType::Virtual:
+ dto = arondto::ClockType::Virtual;
+ break;
+ case ClockType::Unknown:
+ dto = arondto::ClockType::Unknown;
+ break;
}
+}
- void 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);
- }
+void armarx::fromAron(const arondto::Duration& dto, Duration& bo)
+{
+ bo = Duration::MicroSeconds(dto.microSeconds);
+}
- void toAron(arondto::DateTime& dto, const DateTime& bo)
- {
- arondto::Duration timeSinceEpoch;
- toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
- dto.timeSinceEpoch = timeSinceEpoch;
- arondto::ClockType clockType;
- toAron(clockType, bo.clockType());
- dto.clockType = clockType;
- dto.hostname = bo.hostname();
- }
+void armarx::toAron(arondto::Duration& dto, const Duration& bo)
+{
+ dto.microSeconds = bo.toMicroSeconds();
+}
+
+void armarx::fromAron(const arondto::Frequency& dto, Frequency& bo)
+{
+ Duration cycleDuration;
+ fromAron(dto.cycleDuration, cycleDuration);
+ bo = Frequency(cycleDuration);
+}
-} // namespace armarx
+void armarx::toAron(arondto::Frequency& dto, const Frequency& bo)
+{
+ arondto::Duration cycleDuration;
+ toAron(cycleDuration, bo.toCycleDuration());
+ dto.cycleDuration = cycleDuration;
+}
+
+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);
+}
+
+void armarx::toAron(arondto::DateTime& dto, const DateTime& bo)
+{
+ arondto::Duration timeSinceEpoch;
+ toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
+ dto.timeSinceEpoch = timeSinceEpoch;
+ arondto::ClockType clockType;
+ toAron(clockType, bo.clockType());
+ dto.clockType = clockType;
+ dto.hostname = bo.hostname();
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
index 3f66752a8..807605ec0 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -3,21 +3,27 @@
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/time_minimal.h>
-#include <IceUtil/Time.h>
-
#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace IceUtil
+{
+ class Time;
+
+ void fromAron(const long& dto, IceUtil::Time& bo);
+ void toAron(long& dto, const IceUtil::Time& bo);
+
+ void fromAron(const IceUtil::Time& dto, armarx::DateTime& bo);
+ void toAron(IceUtil::Time& dto, const armarx::DateTime& bo);
+}
namespace armarx
{
void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
void toAron(arondto::PackagePath& dto, const PackagePath& bo);
- void fromAron(const long& dto, IceUtil::Time& bo);
- void toAron(long& dto, const IceUtil::Time& bo);
-
void fromAron(const arondto::ClockType& dto, ClockType& bo);
void toAron(arondto::ClockType& dto, const ClockType& bo);
--
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