diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index d88919e229dc79870eae34729c4dfa1ca1666f08..714a8edc0cca48ed70f37dd100950b76be92c4f7 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -3,12 +3,14 @@ ARON DTO of armarx::objpose::ObjectPose.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml>" autoinclude="true" />
- </AronIncludes>
+
+ <Includes>
+ <Include package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
+ <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
+ <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectType.xml" />
+ <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::objpose::arondto::ObjectAttachmentInfo">
diff --git a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
index 3f04e393abf0c07747cdebd8288ca655f169e7c5..d38cd43a32aef5e1db68e1ae8a35860c9349a97f 100644
--- a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
+++ b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::MemoryLink" template="T">
<ObjectChild key="memoryID">
diff --git a/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp b/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
index 38033d8badc055615c131567ca9fdb8f9abe0741..f4d5f79cabb89ecbf0a0e5c50c8975af6e14010d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
@@ -364,7 +364,7 @@ namespace armarx::armem::gui::instance
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))
{
@@ -632,7 +632,7 @@ 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&)
{
@@ -644,13 +644,13 @@ 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_objects/aron/Attachment.xml b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
index 76cb21c07a16e8f37c0fa00f6a4ab2b90cfd2983..43c864165e99a8b0a400a45cf790ec4310a5483c 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
@@ -1,12 +1,9 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+ </Includes>
<GenerateTypes>
<Object name="armarx::armem::arondto::attachment::AgentDescription">
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
index 774c6e0d5d32734a16d7fdc918f491d19cfbfa39..27acad2fa236d09663b1f1f605ae915b0b34d7d8 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
@@ -3,14 +3,11 @@ Core segment type of Object/Instance.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectPose.xml" />
+ <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::ObjectInstance">
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
index a3f481c630d573970ace675032a13becc9ca57fe..1767413e76d00aaeaf076da7cdae8236d4f7ee5e 100644
--- a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
+++ b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
@@ -1,12 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+ </Includes>
<GenerateTypes>
<Object name='armarx::reasoning::arondto::Anticipation'>
diff --git a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
index 63e87ab3c4ba7193a8b7800ed4c24881c09e1b45..95227b98ba9a66db9552c5de413651de6a5ee8a9 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
@@ -1,16 +1,12 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotState.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <!-- <Include include="<RobotAPI/libraries/armem_objects/aron/RobotDescription.xml>" /> -->
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotState.xml>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/armem_robot/aron/RobotDescription.xml" />
+ <Include package="RobotAPI" path="libraries/armem_robot/aron/RobotState.xml" />
+ <Include package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::Robot">
diff --git a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
index edce8c802a4e77cb571492700422b7c04eb7e1a1..727a9b831a998c7b16dc25a27df94f48549fa51b 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
@@ -1,12 +1,9 @@
<!--This class cotains information on how to create a VirtualRobot::Robot -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
+ </Includes>
<GenerateTypes>
<Object name='armarx::armem::arondto::RobotDescription'>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
index 02ebe91b35094809953de6cfd0252c8a2048cf98..6408b9a11e353bc6c50e2893f285f99b9b613989 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
@@ -1,13 +1,11 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<RobotAPI/libraries/armem_robot_state/aron/TransformHeader.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml>" />
- </AronIncludes>
+ <Includes>
+ <SystemInclude include="Eigen/Core" />
+ <Include package="RobotAPI" path="libraries/armem_robot_state/aron/TransformHeader.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::Transform">
<ObjectChild key='header'>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml b/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
index c6bd5b94f93fa10e0638c75d17e8dbed0ad5bc60..f56e52c915284cd7c0a2a8deaa0c0cf179e3a154 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
@@ -1,9 +1,10 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
+ <Includes>
+ <SystemInclude include="Eigen/Core" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::TransformHeader">
<ObjectChild key='parentFrame'>
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index 777dbb0b3e5a54196283983367cdd2066ff216ef..2ebbab1cccdad55bec5e15e1ac085d718bb07369 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -85,18 +85,6 @@ namespace armarx::aron::codegenerator::cpp
ToAronTypeDTO.enforceMemberAccess = "->toAronObjectDTO()";
initialTypeWriters.push_back(ToAronTypeDTO);
}
-
- // toJSON Method
- /*
- {
- codegenerator::WriterInfo toJSON;
- toJSON.methodName = "toJSON";
- toJSON.returnType = "nlohmann::json";
- toJSON.writerClassType = "armarx::aron::data::writer::NlohmannJSONWriter";
- toJSON.include = "<RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>";
- dataWriters.push_back(toJSON);
- }
- */
}
void Writer::addSpecificReaderMethods()
@@ -138,18 +126,6 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
dataReaders.push_back(fromAronDTO);
}
-
- // fromJSON Method
- /*
- {
- codegenerator::ReaderInfo fromJSON;
- fromJSON.methodName = "fromJSON";
- fromJSON.argumentType = "nlohmann::json";
- fromJSON.readerClassType = "armarx::aron::data::reader::NlohmannJSONReader";
- fromJSON.include = "<RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>";
- dataReaders.push_back(fromJSON);
- }
- */
}
@@ -162,15 +138,13 @@ namespace armarx::aron::codegenerator::cpp
//std::cout << "Generating: " << nav->getName() << std::endl;
// Convert to Object type and create class object
- if (type == nullptr)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "An received public type is null. Abort due to error!");
- }
+ ARMARX_CHECK_NOT_NULL(type);
generator::ObjectClass generator(*type);
-
CppClassPtr c = setupBasicCppClass(publicGenerateObjectType, generator);
+ setupMemberFields(c, publicGenerateObjectType.doc_members, generator);
+ // check for templates
if (!type->getTemplates().empty())
{
std::vector<std::string> tmpl;
@@ -184,8 +158,8 @@ namespace armarx::aron::codegenerator::cpp
std::string requiresDef = "requires " + simox::alg::join(tmpl_requires, " && ");
c->setTemplates(templateDef + "\n" + requiresDef);
}
- setupMemberFields(c, publicGenerateObjectType.doc_members, generator);
+ // check for inheritance
if (type->getExtends() != nullptr)
{
generator::ObjectClass extendsSerializer(*type->getExtends());
@@ -194,20 +168,16 @@ namespace armarx::aron::codegenerator::cpp
else
{
c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
}
- for (const std::string& s : additionalIncludes)
+ // Writermethods
+ for (codegenerator::WriterInfo info : dataWriters)
{
- if (!s.empty())
+ if (info.returnType == OWN_TYPE_NAME)
{
- c->addInclude(s);
+ info.returnType = generator.getFullClassCppTypename();
}
- }
- // Writermethods
- for (const codegenerator::WriterInfo& info : dataWriters)
- {
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -217,15 +187,30 @@ namespace armarx::aron::codegenerator::cpp
}
// Add methods to set the member variables
- for (const codegenerator::StaticReaderInfo& info : staticDataReaders)
+ // also resolve the original class name if the return type is set to special
+ for (codegenerator::StaticReaderInfo info : staticDataReaders)
{
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
c->addMethod(convert);
}
// Add methods to set the member variables
- for (const codegenerator::ReaderInfo& info : dataReaders)
+ for (codegenerator::ReaderInfo info : dataReaders)
{
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -235,8 +220,13 @@ namespace armarx::aron::codegenerator::cpp
}
// Typewritermethods
- for (const codegenerator::WriterInfo& info : initialTypeWriters)
+ for (codegenerator::WriterInfo info : initialTypeWriters)
{
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -254,18 +244,13 @@ namespace armarx::aron::codegenerator::cpp
for (const auto& publicGenerateIntEnumType : generateIntEnums)
{
const auto& nav = publicGenerateIntEnumType.correspondingType;
- if (nav == nullptr)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "An received public type is null. Abort due to error!");
- }
+ ARMARX_CHECK_NOT_NULL(nav);
generator::IntEnumClass generator(*nav);
-
CppClassPtr c = setupBasicCppClass(publicGenerateIntEnumType, generator);
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
// ctor
c->addCtor(generator.toCopyCtor(c->getName()));
@@ -322,6 +307,7 @@ namespace armarx::aron::codegenerator::cpp
classDoc += (info.doc_brief.empty() ? "" : " * @brief " + info.doc_brief + "\n");
classDoc += (info.doc_author.empty() ? "" : " * @author " + info.doc_author + "\n");
}
+
c->addClassDoc(classDoc);
c->setPragmaOnceIncludeGuard(true);
@@ -330,17 +316,27 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude("<string>");
c->addInclude("<vector>");
c->addInclude("<map>");
+
+ // add predefined includes from generator app (e.g. coming from reader)
+ for (const std::string& s : additionalIncludes)
+ {
+ if (!s.empty())
+ {
+ c->addInclude(s);
+ }
+ }
+
+ // add aron includes
c->addInclude("<RobotAPI/interface/aron.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/aron_conversions.h>");
+ c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
- // add generator includes
+ // add generator includes (e.g. coming from dto types)
for (const auto& i : gen.getRequiredIncludes())
{
c->addInclude(i);
}
- // set This typename
- c->addPublicField(std::string("using ") + OWN_TYPE_NAME + " = " + classCppTypename + ";");
-
// ctor
c->addCtor(gen.toCtor(c->getName()));
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
index 1ce3857fe648a572a21ee4b224c9b09d0d074bdc..9405f63952de447de96a97e68fb3614bfec47807 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
@@ -63,7 +63,7 @@ namespace armarx::aron::codegenerator::cpp
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass&) const;
private:
- static const constexpr char* OWN_TYPE_NAME = "This";
+ static const constexpr char* OWN_TYPE_NAME = "OWN_TYPE_NAME";
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index fa4ead59d8499a5efd314330e835b5b72b04ff80..8cdd98da4fd8d151225f671bc0ed4c5e3c2ef0cf 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -287,7 +287,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@return - nothing";
CppMethodPtr m = CppMethodPtr(new CppMethod("static " + info.returnType + " " + info.methodName + "(const " + info.argumentType + "& input)", doc.str()));
- m->addLine("This t;");
+ m->addLine(info.returnType + " t;");
m->addLine("t.fromAron(input);");
m->addLine("return t;");
return m;
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
index c7a8773cbe3a617e802b0f7c509e85d0e64097a0..63405700dbc3da7c2ac31287c692ed8352971116 100644
--- 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
@@ -27,7 +27,6 @@
#include <SimoxUtility/meta/type_name.h>
#include <SimoxUtility/algorithm/vector.hpp>
-
namespace armarx::aron::codegenerator::cpp::generator
{
@@ -38,7 +37,10 @@ namespace armarx::aron::codegenerator::cpp::generator
static const std::map<std::string, std::string> DTO_REPLACEMENTS =
{
{"armarx::arondto::Duration", "armarx::core::time::Duration"},
- {"armarx::arondto::DateTime", "armarx::core::time::DateTime"}
+ {"armarx::arondto::DateTime", "armarx::core::time::DateTime"},
+ {"armarx::arondto::FramedPosition", "armarx::FramedPosition"},
+ {"armarx::arondto::FramedOrientation", "armarx::FramedOrientation"},
+ {"armarx::arondto::FramedPose", "armarx::FramedPose"}
};
if (DTO_REPLACEMENTS.count(c) > 0)
@@ -56,7 +58,10 @@ namespace armarx::aron::codegenerator::cpp::generator
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>"}}
+ {"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>"}},
+ {"armarx::arondto::FramedPosition", {"<RobotAPI/libraries/core/FramedPose.h>", "<RobotAPI/libraries/aron/common/aron_conversions/framed.h>", "<RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>"}},
+ {"armarx::arondto::FramedOrientation", {"<RobotAPI/libraries/core/FramedPose.h>", "<RobotAPI/libraries/aron/common/aron_conversions/framed.h>", "<RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>"}},
+ {"armarx::arondto::FramedPose", {"<RobotAPI/libraries/core/FramedPose.h>", "<RobotAPI/libraries/aron/common/aron_conversions/framed.h>", "<RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>"}}
};
if (DTO_REPLACEMENTS.count(c) > 0)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index 768fa0dd6a721493433b5f810c1b40200f132d55..6c3717520d48ee01a83a31d76769e8b6dd273f69 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -73,10 +73,10 @@ namespace armarx::aron::codegenerator::cpp::generator
enum_to_value << "\t}";
value_to_enum << "\t}";
- fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str(), "Mapping enum values to readable strings"));
- fields.push_back(std::make_shared<CppField>("const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str(), "Mapping readable strings to enum values"));
- fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str(), "Mapping enum values to a int value"));
- fields.push_back(std::make_shared<CppField>("const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str(), "Mapping int values to a enum"));
+ fields.push_back(std::make_shared<CppField>("static inline const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str(), "Mapping enum values to readable strings"));
+ fields.push_back(std::make_shared<CppField>("static inline const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str(), "Mapping readable strings to enum values"));
+ fields.push_back(std::make_shared<CppField>("static inline const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str(), "Mapping enum values to a int value"));
+ fields.push_back(std::make_shared<CppField>("static inline const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str(), "Mapping int values to a enum"));
fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", "", "The current value of the enum object"));
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index f8e044b8d11522df32648b59dff0fd3b114d4cdc..0d54dc8bf173b1262ecbc938a6c1678fb1dff8b2 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -33,7 +33,7 @@ namespace armarx::aron::codegenerator::cpp::generator
// constructors
ObjectClass::ObjectClass(const type::Object& e) :
detail::SpecializedGeneratorBase<type::Object, ObjectClass>(
- e.getObjectName(),
+ e.getObjectNameWithTemplateInstantiations(), // should be similar to the object name
e.getObjectNameWithTemplates(),
simox::meta::get_type_name<data::dto::Dict>(),
simox::meta::get_type_name<type::dto::AronObject>(), e)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
index 53e8107bc93618f0fdd9e405ef469ede2175e042..edda7cf5f457545a57496e62283ed58cb321b68f 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
@@ -1,9 +1,10 @@
<!--This class contains the data structure for NaturalIKResults -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml>" autoinclude="true" />
- </AronIncludes>
+ <Includes>
+ <Include package="RobotAPI" path="libraries/aron/codegeneration/test/aron/BaseClassTest.xml" />
+ </Includes>
+
<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/codegeneration/test/aron/DtoTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
index b08df68f4c54f23ced8e8e5540d499997191e682..d25bdefdd140dac7b1168bff4dcdbc68fd3cb878 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
@@ -6,9 +6,21 @@
<objectchild key='the_time'>
<datetime />
</ObjectChild>
+ <objectchild key='the_time2'>
+ <time />
+ </ObjectChild>
<objectchild key='the_duration'>
<duration />
</ObjectChild>
+ <objectchild key='the_pos'>
+ <framedposition />
+ </ObjectChild>
+ <objectchild key='the_ori'>
+ <framedorientation />
+ </ObjectChild>
+ <objectchild key='the_pose'>
+ <framedpose />
+ </ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
index 2b0d2d39810d2d1c05d4c40bba55ee36fc29615a..29b58d4594a99b5845c25fcbfe003d97bb89b763 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
@@ -1,8 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
+ <Include>
+ <SystemInclude package="" path="Eigen/Core" />
+ </Include>
+
<GenerateTypes>
<Object name="armarx::OptionalTestElement">
<ObjectChild key="val">
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
index 31ab1c61873c847901528695670ea14272f3ad17..0c8695fa42045cf49c18295e3bd8fc59fcbfe3b8 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
@@ -54,7 +54,7 @@ namespace armarx::aron::typereader
std::vector<std::string> getCodeIncludes() const
{
- return codeIncludes;
+ return systemIncludes;
}
std::vector<std::string> getAronIncludes() const
{
@@ -80,7 +80,7 @@ namespace armarx::aron::typereader
protected:
std::vector<std::string> alreadyParsedXMLFiles;
- std::vector<std::string> codeIncludes;
+ std::vector<std::string> systemIncludes;
std::vector<std::string> aronIncludes;
std::vector<codegenerator::ReaderInfo> readers;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
index 3a7ba2a06711d3f02f19fc17e73b31adc7bf6da3..dae418cdb4fd4de31b2daf86c839b60b988233ca 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
@@ -75,7 +75,7 @@ namespace armarx::aron::typereader::xml
if (HasAttribute(node, att))
{
std::string v = simox::alg::to_lower(node.attribute_value(att.c_str()));
- if (v == "1" or v == "true" or v == "wahr" or v == "yes" or v == "ja" or v == "")
+ if (v == "1" or v == "true" or v == "yes" or v == "ja" or v == "")
{
return true;
}
@@ -92,10 +92,22 @@ namespace armarx::aron::typereader::xml
{
if (!(HasTagName(node, name)))
{
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node <" + node.name() + "> has the wrong tag", name);
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node has the wrong tag. Expected: " + name, node.name());
}
}
+ void util::EnforceTagNames(const RapidXmlReaderNode& node, const std::vector<std::string>& names)
+ {
+ for (const auto& name : names)
+ {
+ if (HasTagName(node, name))
+ {
+ return;
+ }
+ }
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node has the wrong tag. Expected one of: " + simox::alg::to_string(names, ", "), node.name());
+ }
+
std::string util::GetTagName(const armarx::RapidXmlReaderNode& node)
{
return simox::alg::to_lower(node.name());
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
index bc1a437058bfd75b111d257e8c7200889ae88ee8..a780a801173760a7adeae69fda0b4cff4a66e0f9 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
@@ -42,12 +42,12 @@ namespace armarx::aron::typereader::xml
// Definition tags
const std::string TYPE_DEFINITION_TAG = "arontypedefinition";
- const std::string CODE_INCLUDES_TAG = "codeincludes";
- const std::string INCLUDES_TAG = "aronincludes";
- const std::string GENERATE_TYPES_TAG = "generatetypes";
- const std::string AUTO_CODE_INCLUDE = "autoinclude";
-
+ const std::string CODE_INCLUDES_TAG = "codeincludes"; // Legacy
+ const std::string ARON_INCLUDES_TAG = "aronincludes"; // Legacy
+ const std::string INCLUDES_TAG = "includes";
+ const std::string SYSTEM_INCLUDE_TAG = "systeminclude";
const std::string INCLUDE_TAG = "include";
+ const std::string GENERATE_TYPES_TAG = "generatetypes";
// Attribute names
const std::string METHOD_ATTRIBUTE_NAME = "method";
@@ -68,14 +68,15 @@ namespace armarx::aron::typereader::xml
const std::string COLS_ATTRIBUTE_NAME = "cols";
const std::string DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
const std::string SHAPE_ATTRIBUTE_NAME = "shape";
- const std::string OPTIONAL_NAME = "optional";
- const std::string RAW_PTR_NAME = "raw_ptr";
- const std::string SHARED_PTR_NAME = "shared_ptr";
- const std::string UNIQUE_PTR_NAME = "unique_ptr";
- const std::string PACKAGE_NAME = "package";
- const std::string DOC_BRIEF_NAME = "doc-brief";
- const std::string DOC_AUTHOR_NAME = "doc-author";
- const std::string DOC_PARAM_NAME = "doc-param";
+ const std::string OPTIONAL_ATTRIBUTE_NAME = "optional";
+ const std::string RAW_PTR_ATTRIBUTE_NAME = "raw_ptr";
+ const std::string SHARED_PTR_ATTRIBUTE_NAME = "shared_ptr";
+ const std::string UNIQUE_PTR_ATTRIBUTE_NAME = "unique_ptr";
+ const std::string PACKAGE_ATTRIBUTE_NAME = "package";
+ const std::string DOC_BRIEF_ATTRIBUTE_NAME = "doc-brief";
+ const std::string DOC_AUTHOR_ATTRIBUTE_NAME = "doc-author";
+ const std::string DOC_PARAM_ATTRIBUTE_NAME = "doc-param";
+ const std::string PATH_ATTRIBUTE_NAME = "path";
// Second level tags. Only important if in specific top level tag
const std::string OBJECT_CHILD_TAG = "objectchild";
@@ -112,9 +113,13 @@ namespace armarx::aron::typereader::xml
{"orientation", {"<quaternion type='float32' />", ""}},
// You can also add replacements for arondtos here!
+ // structure: {xml-identifier, {replacement, auto-include}}
{"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>"}}
+ {"duration", {"<armarx::arondto::Duration />", "<RobotAPI/libraries/aron/common/aron/time.xml>"}},
+ {"framedposition", {"<armarx::arondto::FramedPosition />", "<RobotAPI/libraries/aron/common/aron/framed.xml>"}},
+ {"framedorientation", {"<armarx::arondto::FramedOrientation />", "<RobotAPI/libraries/aron/common/aron/framed.xml>"}},
+ {"framedpose", {"<armarx::arondto::FramedPose />", "<RobotAPI/libraries/aron/common/aron/framed.xml>"}}
};
}
@@ -131,6 +136,7 @@ namespace armarx::aron::typereader::xml
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
void EnforceTagName(const RapidXmlReaderNode& node, const std::string& name);
+ void EnforceTagNames(const RapidXmlReaderNode& node, const std::vector<std::string>& names);
std::string GetTagName(const RapidXmlReaderNode& node);
void EnforceChildSizeSmaller(const RapidXmlReaderNode& node, const size_t size);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
index 5eebd6d760ea6ac14a034817f172e9a6c2f887be..9aa67cac2e52f89cc4149d9e4d9cc2bd44908568 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
@@ -142,19 +142,19 @@ namespace armarx::aron::typereader::xml
type::Maybe ReaderFactory::getMaybe(const RapidXmlReaderNode& n) const
{
- if (util::AttributeIsTrue(n, constantes::OPTIONAL_NAME))
+ if (util::AttributeIsTrue(n, constantes::OPTIONAL_ATTRIBUTE_NAME))
{
return type::Maybe::OPTIONAL;
}
- if (util::AttributeIsTrue(n, constantes::RAW_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::RAW_PTR_ATTRIBUTE_NAME))
{
return type::Maybe::RAW_PTR;
}
- if (util::AttributeIsTrue(n, constantes::SHARED_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::SHARED_PTR_ATTRIBUTE_NAME))
{
return type::Maybe::SHARED_PTR;
}
- if (util::AttributeIsTrue(n, constantes::UNIQUE_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::UNIQUE_PTR_ATTRIBUTE_NAME))
{
return type::Maybe::UNIQUE_PTR;
}
@@ -190,8 +190,8 @@ namespace armarx::aron::typereader::xml
auto newObjectInfo = typereader::GenerateObjectInfo();
newObjectInfo.typeName = name;
- newObjectInfo.doc_brief = util::GetAttributeWithDefault(node, constantes::DOC_BRIEF_NAME, "");
- newObjectInfo.doc_author = util::GetAttributeWithDefault(node, constantes::DOC_AUTHOR_NAME, "");
+ newObjectInfo.doc_brief = util::GetAttributeWithDefault(node, constantes::DOC_BRIEF_ATTRIBUTE_NAME, "");
+ newObjectInfo.doc_author = util::GetAttributeWithDefault(node, constantes::DOC_AUTHOR_ATTRIBUTE_NAME, "");
// reset private known types
allPreviouslyKnownPrivateTypes = templates;
@@ -207,9 +207,9 @@ namespace armarx::aron::typereader::xml
checkObjectMemberName(key);
- if (util::HasAttribute(objectChild, constantes::DOC_BRIEF_NAME))
+ if (util::HasAttribute(objectChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME))
{
- newObjectInfo.doc_members.insert({key, util::GetAttribute(objectChild, constantes::DOC_BRIEF_NAME)});
+ newObjectInfo.doc_members.insert({key, util::GetAttribute(objectChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME)});
}
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
@@ -480,9 +480,9 @@ namespace armarx::aron::typereader::xml
const std::string key = util::GetAttribute(valueChild, constantes::KEY_ATTRIBUTE_NAME);
- if (util::HasAttribute(valueChild, constantes::DOC_BRIEF_NAME))
+ if (util::HasAttribute(valueChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME))
{
- newEnumInfo.doc_values.insert({key, util::GetAttribute(valueChild, constantes::DOC_BRIEF_NAME)});
+ newEnumInfo.doc_values.insert({key, util::GetAttribute(valueChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME)});
}
const std::string value = util::GetAttribute(valueChild, constantes::VALUE_ATTRIBUTE_NAME);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
index 3f7d947e03f21a23088ee88505fabc7d3610b763..b5de00b0a790888e6638a9a1207a7f3795efe5be 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
@@ -27,6 +27,9 @@
// Header
#include "Reader.h"
+// Simox
+#include <SimoxUtility/algorithm/vector.hpp>
+
// ArmarX
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -41,6 +44,13 @@ namespace armarx::aron::typereader::xml
namespace
{
+
+ [[deprecated("Using the tags <CodeInclude> and <AronInclude> is deprecated. Only use a single top-level-tag <Includes> instead.")]]
+ void deprecated_include()
+ {
+
+ }
+
/// Resolve a relative Package path. This may be removed in a newer version of aron
std::optional<fs::path> resolveRelativePackagePath(const fs::path& path)
{
@@ -95,35 +105,71 @@ namespace armarx::aron::typereader::xml
util::EnforceChildSizeSmallerEqual(root, 4);
- auto code_includes = util::GetFirstNodeWithTag(root, constantes::CODE_INCLUDES_TAG);
- auto aron_includes = util::GetFirstNodeWithTag(root, constantes::INCLUDES_TAG);
+ auto includes = util::GetFirstNodeWithTag(root, constantes::INCLUDES_TAG);
auto generate_types = util::GetFirstNodeWithTag(root, constantes::GENERATE_TYPES_TAG);
- // 1. Check includes
- if (code_includes.has_value())
+ // 0. Check legacy includes
+ auto codeincludes = util::GetFirstNodeWithTag(root, constantes::CODE_INCLUDES_TAG);
+ auto aronincludes = util::GetFirstNodeWithTag(root, constantes::ARON_INCLUDES_TAG);
+ if (codeincludes.has_value())
{
- for (const auto& include : (*code_includes).nodes())
+ deprecated_include();
+
+ for (const auto& include : (*codeincludes).nodes())
+ {
+ auto i = readCodeInclude(include, filePath);
+ if (i) this->systemIncludes.push_back(*i);
+ }
+ }
+ if (aronincludes.has_value())
+ {
+ deprecated_include();
+
+ for (const auto& include : (*aronincludes).nodes())
{
- this->codeIncludes.push_back(readCodeInclude(include, filePath));
+ auto i = readAronInclude(include, filePath);
+ if (i) this->aronIncludes.push_back(*i);
}
}
- // 2. Check AronIncludes
- // 2.1 Read replacement files
- for (const auto& p : constantes::REPLACEMENTS)
+ // 1. Check includes
+ if (includes.has_value())
{
- if (!p.second.second.empty())
+ for (const auto& include : (*includes).nodes())
{
- this->aronIncludes.push_back(readAronInclude(p.second.second, filePath));
+ if (util::HasTagName(include, constantes::SYSTEM_INCLUDE_TAG))
+ {
+ auto i = readCodeInclude(include, filePath);
+ if (i) this->systemIncludes.push_back(*i);
+ }
+
+ // ToDo: add special tag for aron includes
+
+ // ToDo: system includes also allow to use the <include> tag. Try to estimate aron or system include from attributes
+ if (util::HasTagName(include, constantes::INCLUDE_TAG))
+ {
+ auto i = readAronInclude(include, filePath);
+ if (i) this->aronIncludes.push_back(*i);
+ }
}
}
- // 2.2 Read user defined aron includes
- if (aron_includes.has_value())
+ // 2. Check used tags of GenerateTypes for special defaulted includes
+ if (generate_types.has_value())
{
- for (const auto& aronInclude : (*aron_includes).nodes())
+ for (const auto& generateType : (*generate_types).nodes())
{
- this->aronIncludes.push_back(readAronInclude(aronInclude, filePath));
+ if (util::HasTagName(generateType, constantes::OBJECT_TAG))
+ {
+ for (const auto& x : checkForInclude(generateType, filePath))
+ {
+ auto i = this->readAronInclude(x, filePath);
+ if (i && std::find(this->aronIncludes.begin(), this->aronIncludes.end(), *i) == this->aronIncludes.end())
+ {
+ this->aronIncludes.push_back(*i);
+ }
+ }
+ }
}
}
@@ -154,38 +200,56 @@ namespace armarx::aron::typereader::xml
}
}
- std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ std::optional<std::string> Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
{
- util::EnforceTagName(node, constantes::INCLUDE_TAG);
- util::EnforceAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- const std::string include = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- return readCodeInclude(include, filePath);
+ util::EnforceTagNames(node, {constantes::SYSTEM_INCLUDE_TAG, constantes::INCLUDE_TAG});
+ std::string specifiedPath = util::GetAttributeWithDefault(node, constantes::INCLUDE_ATTRIBUTE_NAME, "");
+ specifiedPath = simox::alg::replace_all(specifiedPath, "<", "");
+ specifiedPath = simox::alg::replace_all(specifiedPath, ">", "");
+ if (specifiedPath.empty())
+ {
+ // else we require a package path
+ util::EnforceAttribute(node, constantes::PACKAGE_ATTRIBUTE_NAME);
+ util::EnforceAttribute(node, constantes::PATH_ATTRIBUTE_NAME);
+ const std::string package = util::GetAttribute(node, constantes::PACKAGE_ATTRIBUTE_NAME);
+ const std::string path = util::GetAttribute(node, constantes::PATH_ATTRIBUTE_NAME);
+ specifiedPath = package + "/" + path;
+ }
+ return readCodeInclude("<" + specifiedPath + ">", filePath); // <> for legacy reasons. ToDo:
}
- std::string Reader::readCodeInclude(const std::string& s, const std::filesystem::path&)
+ std::optional<std::string> Reader::readCodeInclude(std::string s, const std::filesystem::path&)
{
return s;
}
- std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ std::optional<std::string> Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
{
util::EnforceTagName(node, constantes::INCLUDE_TAG);
- std::string specifiedPath = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- std::string resolved_absolute_path = readAronInclude(specifiedPath, filePath);
+ std::string specifiedPath = util::GetAttributeWithDefault(node, constantes::INCLUDE_ATTRIBUTE_NAME, "");
+ specifiedPath = simox::alg::replace_all(specifiedPath, "<", "");
+ specifiedPath = simox::alg::replace_all(specifiedPath, ">", "");
+ if (specifiedPath.empty())
+ {
+ const std::string package = util::GetAttribute(node, constantes::PACKAGE_ATTRIBUTE_NAME);
+ const std::string path = util::GetAttribute(node, constantes::PATH_ATTRIBUTE_NAME);
+ specifiedPath = package + "/" + path;
+ }
- if (util::HasAttribute(node, constantes::AUTO_CODE_INCLUDE))
+ std::optional<std::string> resolved_absolute_path = readAronInclude("<" + specifiedPath + ">", filePath);
+ if (resolved_absolute_path) // we found something
{
std::string codeinclude = simox::alg::replace_last(specifiedPath, ".xml", ".aron.generated.h");
- this->codeIncludes.push_back(codeinclude);
+ auto i = this->readCodeInclude("<" + codeinclude + ">", filePath);
+ if (i) this->systemIncludes.push_back(*i);
}
return resolved_absolute_path;
}
- std::string Reader::readAronInclude(const std::string& s, const std::filesystem::path& filePath)
+ std::optional<std::string> Reader::readAronInclude(std::string specifiedPath, const std::filesystem::path& filePath)
{
- std::string specifiedPath = s;
specifiedPath = simox::alg::replace_all(specifiedPath, "<", "");
specifiedPath = simox::alg::replace_all(specifiedPath, ">", "");
const std::filesystem::path xmlincludepath(specifiedPath);
@@ -220,7 +284,7 @@ namespace armarx::aron::typereader::xml
// check if referred file is same as current file. If so, abort.
if (resolved_absolute_path == filePath)
{
- return "";
+ return std::nullopt;
}
// parse parent xml file and add objects to alreday known
@@ -242,6 +306,32 @@ namespace armarx::aron::typereader::xml
return resolved_absolute_path.string();
}
+ std::vector<std::string> Reader::checkForInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ {
+ std::vector<std::string> ret;
+ for (const auto& repl : constantes::REPLACEMENTS)
+ {
+ if (!repl.second.second.empty() && util::HasTagName(node, repl.first))
+ {
+ // we found a string that will be replaced so we might need to add a default include
+ ret.push_back(repl.second.second);
+ break;
+ }
+ }
+
+ if (not ret.empty()) // children are not allowed for dto replaced nodes!
+ {
+ util::EnforceChildSize(node, 0);
+ }
+
+ for (const auto& n : node.nodes()) // only valid if ret is empty
+ {
+ auto v = checkForInclude(n, filePath);
+ ret = simox::alg::appended(ret, v);
+ }
+
+ return ret;
+ }
type::ObjectPtr Reader::readGenerateObject(const RapidXmlReaderNode& node)
{
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
index e686154899b9dc96d246584391e9814e0701bd85..d661a62bf07c674a0085fd5b387601a539796966 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
@@ -56,11 +56,13 @@ namespace armarx::aron::typereader::xml
private:
void parse(const RapidXmlReaderPtr& node, const std::filesystem::path& filePath);
- std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
- std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+ std::optional<std::string> readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+ std::optional<std::string> readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
- std::string readCodeInclude(const std::string&, const std::filesystem::path& filePath);
- std::string readAronInclude(const std::string&, const std::filesystem::path& filePath);
+ std::vector<std::string> checkForInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+
+ std::optional<std::string> readCodeInclude(std::string, const std::filesystem::path& filePath);
+ std::optional<std::string> readAronInclude(std::string, const std::filesystem::path& filePath);
type::ObjectPtr readGenerateObject(const RapidXmlReaderNode& node);
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index 14e5a0305d96f267dae3a20c70f05bb37fdee2f3..8dc8e85556003093661f8adc0e4352ed5f660726 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -9,6 +9,7 @@ armarx_add_library(
# ArmarXCore
ArmarXCore
# RobotAPI
+ RobotAPICore
aron
HEADERS
@@ -27,6 +28,9 @@ armarx_add_library(
json_conversions/armarx.h
+ rw/time.h
+ rw/framed.h
+
util/object_finders.h
SOURCES
@@ -42,6 +46,9 @@ armarx_add_library(
json_conversions/armarx.cpp
+ rw/time.cpp
+ rw/framed.cpp
+
util/object_finders.cpp
)
diff --git a/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml b/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
index c7527c2cfc3e862f45bf5f69a039b27c96eb5d50..3a264f6fe394d7959f88e7348942870fbd62eef4 100644
--- a/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
@@ -3,10 +3,12 @@ The ARON DTO of simox::OrientedBoxf.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+
<CodeIncludes>
<Include include="<Eigen/Core>" />
<Include include="<Eigen/Geometry>" />
</CodeIncludes>
+
<GenerateTypes>
<Object name="simox::arondto::OrientedBox">
diff --git a/source/RobotAPI/libraries/aron/common/aron/framed.xml b/source/RobotAPI/libraries/aron/common/aron/framed.xml
index 2e2e6d45f95defa21e39670d5957dba539d63972..1fb5025dfd26637f542f05606bbe41777fc0a903 100644
--- a/source/RobotAPI/libraries/aron/common/aron/framed.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/framed.xml
@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Geometry>" />
- </CodeIncludes>
+ <Includes>
+ <SystemInclude include="Eigen/Geometry" />
+ </Includes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp
index 516620a1391ac99431431b4a0c3125971d3567cb..e7139063b3e439d80e94942b48223ce128ce7bdc 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp
@@ -1 +1,36 @@
#include "framed.h"
+
+#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace armarx
+{
+ void fromAron(const arondto::FramedPosition& dto, armarx::FramedPosition& bo)
+ {
+
+ }
+
+ void toAron(arondto::FramedPosition& dto, const armarx::FramedPosition& bo)
+ {
+
+ }
+
+ void fromAron(const arondto::FramedOrientation& dto, armarx::FramedOrientation& bo)
+ {
+
+ }
+
+ void toAron(arondto::FramedOrientation& dto, const armarx::FramedOrientation& bo)
+ {
+
+ }
+
+ void fromAron(const arondto::FramedPose& dto, armarx::FramedPose& bo)
+ {
+
+ }
+
+ void toAron(arondto::FramedPose& dto, const armarx::FramedPose& bo)
+ {
+
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
index f7c53ac77567e564a372a918a2bd671311239c98..49246f99c37c149d342c58b31f639fc68c6a07ed 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
@@ -1,11 +1,26 @@
#pragma once
#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+// arondto forward declarations
+namespace armarx::arondto
+{
+ class FramedPosition;
+ class FramedOrientation;
+ class FramedPose;
+ class FramedID;
+}
-#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
namespace armarx
{
+ void fromAron(const arondto::FramedPosition& dto, armarx::FramedPosition& bo);
+ void toAron(arondto::FramedPosition& dto, const armarx::FramedPosition& bo);
+ void fromAron(const arondto::FramedOrientation& dto, armarx::FramedOrientation& bo);
+ void toAron(arondto::FramedOrientation& dto, const armarx::FramedOrientation& bo);
-} // namespace armarx
+ void fromAron(const arondto::FramedPose& dto, armarx::FramedPose& bo);
+ void toAron(arondto::FramedPose& dto, const armarx::FramedPose& bo);
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
index 2ee681ca3695cd0751ab7d89f498362a6ab87319..154079cb9d64be74ec6bf7e2ad030485548ff800 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
@@ -2,9 +2,8 @@
#include <IceUtil/Time.h>
-#include <ArmarXCore/core/time/ice_conversions.h>
-
#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.h b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
index 0ea9cb87a972c2fe2e7d2713f608242095cacffa..2dc940f196215903f090c57a398f74e7fc90a25d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
@@ -3,6 +3,15 @@
#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <ArmarXCore/core/time_minimal.h>
+// arondto forward declarations
+namespace armarx::arondto
+{
+ class ClockType;
+ class Duration;
+ class DateTime;
+ class Frequency;
+}
+
namespace IceUtil
{
@@ -23,14 +32,6 @@ 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/rw/framed.cpp b/source/RobotAPI/libraries/aron/common/rw/framed.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3f88461dbf51e7634cb25a9f96fbbc6f05a08b95
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/framed.cpp
@@ -0,0 +1,2 @@
+#include "framed.h"
+
diff --git a/source/RobotAPI/libraries/aron/common/rw/framed.h b/source/RobotAPI/libraries/aron/common/rw/framed.h
new file mode 100644
index 0000000000000000000000000000000000000000..bedc47f6f40cb52aa6f894ad06935e940d86cba2
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/framed.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "../aron_conversions/framed.h"
+
+#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace armarx
+{
+ // Helper methods for code generation to convert json/aron to bo and vice versa
+ namespace aron
+ {
+ template<class ReaderT>
+ armarx::FramedPosition readFramedPosition(ReaderT& aron_r, typename ReaderT::InputType& input)
+ {
+ arondto::FramedPosition aron;
+ aron.read(aron_r, input);
+
+ armarx::FramedPosition ret;
+ armarx::fromAron(aron, ret);
+ return ret;
+ }
+
+ template<class WriterT>
+ typename WriterT::ReturnType writeFramedPosition(WriterT& aron_w, const armarx::FramedPosition& input, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::FramedPosition aron;
+ armarx::toAron(aron, input);
+ return aron.write(aron_w, aron_p);
+ }
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/rw/time.cpp b/source/RobotAPI/libraries/aron/common/rw/time.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bbe876c66b979df75c4cd328edb1fea33611d987
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/time.cpp
@@ -0,0 +1 @@
+#include "time.h"
diff --git a/source/RobotAPI/libraries/aron/common/rw/time.h b/source/RobotAPI/libraries/aron/common/rw/time.h
new file mode 100644
index 0000000000000000000000000000000000000000..02ebe2b4a9815e55cd8907fb6c2829bd07943000
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/time.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include "../aron_conversions/time.h"
+
+#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+
+namespace armarx
+{
+ // Helper methods for code generation to convert json/aron to bo and vice versa
+ namespace aron
+ {
+ template<class ReaderT>
+ armarx::core::time::DateTime readDateTime(ReaderT& aron_r, typename ReaderT::InputType& input)
+ {
+ arondto::DateTime aron;
+ aron.read(aron_r, input);
+
+ armarx::core::time::DateTime ret;
+ armarx::fromAron(aron, ret);
+ return ret;
+ }
+
+ template<class WriterT>
+ typename WriterT::ReturnType writeDateTime(WriterT& aron_w, const armarx::core::time::DateTime& input, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::DateTime aron;
+ armarx::toAron(aron, input);
+ return aron.write(aron_w, aron_p);
+ }
+
+
+
+ template<class ReaderT>
+ armarx::core::time::Duration readDuration(ReaderT& aron_r, typename ReaderT::InputType& input)
+ {
+ arondto::Duration aron;
+ aron.read(aron_r, input);
+
+ armarx::core::time::Duration ret;
+ armarx::fromAron(aron, ret);
+ return ret;
+ }
+
+ template<class WriterT>
+ typename WriterT::ReturnType writeDuration(WriterT& aron_w, const armarx::core::time::Duration& input, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::Duration aron;
+ armarx::toAron(aron, input);
+ return aron.write(aron_w, aron_p);
+ }
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.h b/source/RobotAPI/libraries/aron/core/aron_conversions.h
index 3e454465ef1720d550113cf570435bae53bb64a1..1cef1c931ff03787b3759da77cd3f64dbcd08d56 100644
--- a/source/RobotAPI/libraries/aron/core/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.h
@@ -5,9 +5,10 @@
#include <optional>
#include <vector>
+#include "Path.h"
+
namespace armarx::aron
{
-
/**
* Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs
* (Business Objects) and back.
@@ -271,6 +272,12 @@ namespace armarx::aron
}
}
+
+
+
+
+// And do the same for the armarx namespace to ensure consistency with all the other aron_conversions declaraions
+// (which are usually in the armarx namespace)
namespace armarx
{
// Same type