diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index d01b0d60aa39d65b39d14fbc1abb8100a9ec0014..74bb979874f6df5fd83b5e3fde4d337d64d436ba 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -43,19 +43,22 @@ module armarx
************************/
module type
{
- class AronType { };
+ class AronType {
+ bool is_optional = false; // Every type can be optional or not
+ }
sequence<AronType> AronTypeList;
dictionary<string, AronType> AronTypeDict;
// Container types
- class AronList extends AronType { AronType acceptedType; };
- class AronTuple extends AronType { AronTypeList elementTypes; };
- class AronPair extends AronType { AronType acceptedType1; AronType acceptedType2; };
- class AronObject extends AronType { AronObject parent; string objectName; AronTypeDict elementTypes; };
- class AronDict extends AronType { AronType acceptedType; };
+ class AronList extends AronType { AronType acceptedType; }
+ class AronTuple extends AronType { AronTypeList elementTypes; }
+ class AronPair extends AronType { AronType acceptedType1; AronType acceptedType2; }
+ class AronObject extends AronType { AronObject parent; string objectName; AronTypeDict elementTypes; }
+ class AronDict extends AronType { AronType acceptedType; }
// Complex Types (serialize to ndarray)
- class AronEigenMatrix extends AronType { AronIntSequence dimensions; string typeName; };
+ class AronNDArray extends AronType { AronIntSequence dimensions; int elementSize; string typeName; }
+ class AronEigenMatrix extends AronType { AronIntSequence dimensions; string typeName; }
class AronEigenQuaternion extends AronType { string typeName; }
class AronIVTCByteImage extends AronType { int width; int height; string typeName; }
class AronOpenCVMat extends AronType { AronIntSequence dimensions; string typeName; }
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index d3239b7e9bc65726291839e6902b5cdca7d28f10..c023cc567f9a48ce12b1f7e1251167648b6c2454 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -43,6 +43,7 @@ set(LIB_FILES
navigator/type/container/Dict.cpp
navigator/type/container/Tuple.cpp
navigator/type/container/Pair.cpp
+ navigator/type/ndarray/NDArray.cpp
navigator/type/ndarray/EigenMatrix.cpp
navigator/type/ndarray/EigenQuaternion.cpp
navigator/type/ndarray/IVTCByteImage.cpp
@@ -58,18 +59,22 @@ set(LIB_FILES
navigator/visitors/DataVisitor.cpp
navigator/visitors/TypedDataVisitor.cpp
+ io/dataIO/Writer.cpp
io/dataIO/writer/navigator/NavigatorWriter.cpp
io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+ io/dataIO/Reader.cpp
io/dataIO/reader/navigator/NavigatorReader.cpp
io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
io/dataIO/visitor/Visitor.cpp
io/dataIO/converter/Converter.cpp
+ io/typeIO/Writer.cpp
io/typeIO/writer/navigator/NavigatorWriter.cpp
io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+ io/typeIO/Reader.cpp
io/typeIO/reader/navigator/NavigatorReader.cpp
io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -85,6 +90,7 @@ set(LIB_FILES
codegenerator/codeWriter/cpp/serializer/container/Object.cpp
codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+ codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -130,6 +136,7 @@ set(LIB_HEADERS
navigator/type/container/Dict.h
navigator/type/container/Tuple.h
navigator/type/container/Pair.h
+ navigator/type/ndarray/NDArray.h
navigator/type/ndarray/EigenMatrix.h
navigator/type/ndarray/EigenQuaternion.h
navigator/type/ndarray/IVTCByteImage.h
@@ -200,6 +207,7 @@ set(LIB_HEADERS
codegenerator/codeWriter/cpp/serializer/container/Object.h
codegenerator/codeWriter/cpp/serializer/container/Tuple.h
codegenerator/codeWriter/cpp/serializer/container/Pair.h
+ codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
diff --git a/source/RobotAPI/libraries/aron/core/Config.h b/source/RobotAPI/libraries/aron/core/Config.h
index fc05237a22dab5dc57cb4f44b6d4b9616cc379d2..7db99c2f1aaa298eb50f076a371677408dac113e 100644
--- a/source/RobotAPI/libraries/aron/core/Config.h
+++ b/source/RobotAPI/libraries/aron/core/Config.h
@@ -86,6 +86,7 @@ namespace armarx
// All complex types go here
#define HANDLE_NDARRAY_TYPES \
+ RUN_ARON_MACRO(NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX) \
RUN_ARON_MACRO(EigenQuaternion, eigenquaternion, EIGEN_QUATERNION) \
RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE) \
@@ -164,6 +165,7 @@ namespace armarx
RUN_ARON_MACRO(Dict, dict, DICT, Dict, dict, DICT)
#define HANDLE_COMPLEX_CORRESPONDING \
+ RUN_ARON_MACRO(NDArray, ndarray, NDARRAY, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenQuaternion, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE, NDArray, ndarray, NDARRAY) \
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
index 7098b08c6630be31bbb44c0fe098d09071e68b45..a95dce2ca38e0ec513f10f67946646eb90d06069 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -51,10 +51,6 @@ namespace armarx::aron::cppcodegenerator
virtual void initialize() = 0;
virtual void read(armarx::aron::dataIO::ReaderInterface& r) = 0;
virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
- virtual void writeCurrentType(armarx::aron::typeIO::WriterInterface& w) const = 0;
- static void writeType(armarx::aron::typeIO::WriterInterface& w)
- {
- throw error::AronException("AronCppClass", "writeType", "You are not allowed to call this method directly. Each class must inheriting from AronCppClass must implement this static method!");
- };
+ virtual void writeCurrentType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false) const = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
index d4c7f75c8d1498eec120718bde8c0194e9153277..20c5ab2be1cf521bd32f01643c6f7a6461f6e7c4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
@@ -5,6 +5,7 @@
#include "container/Dict.h"
#include "container/Tuple.h"
#include "container/Pair.h"
+#include "ndarray/NDArray.h"
#include "ndarray/EigenMatrix.h"
#include "ndarray/EigenQuaternion.h"
#include "ndarray/IVTCByteImage.h"
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index 3b18a9f8c7c220e125fe828ce52868fdabab4d83..3a8e511cdd6db1cf7bb3d76bdec3e98d121f61db 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -75,6 +75,15 @@ namespace armarx::aron::cppcodegenerator
return ret;
}
+ std::string Serializer::ResolveAccessor(const std::string& s, const typenavigator::NavigatorPtr& t)
+ {
+ if (t->isOptional())
+ {
+ return s + ".value()";
+ }
+ return s;
+ }
+
std::string Serializer::EscapeAccessor(const std::string& accessor)
{
std::string escaped_accessor = accessor;
@@ -117,8 +126,8 @@ namespace armarx::aron::cppcodegenerator
}
// constructors
- Serializer::Serializer(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, bool is_ptr) :
- is_ptr(is_ptr),
+ Serializer::Serializer(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, SerializerAccessType accessType) :
+ accessType(accessType),
cppTypename(cppName),
aronDataTypename(aronDataTypename),
aronTypeTypename(aronTypeTypename)
@@ -133,7 +142,17 @@ namespace armarx::aron::cppcodegenerator
std::string Serializer::getFullCppTypename() const
{
- return is_ptr ? "std::shared_ptr<" + cppTypename + ">" : cppTypename;
+ switch (accessType)
+ {
+ case SerializerAccessType::eDIRECT:
+ return cppTypename;
+ case SerializerAccessType::ePTR:
+ return "std::shared_ptr<" + cppTypename + ">";
+ case SerializerAccessType::eOPTIONAL:
+ return "std::optional<" + cppTypename + ">";
+ default:
+ throw error::AronException("Serializer", "getFullCppTypename", "Received unknown SerializerAccessType");
+ }
}
std::string Serializer::getAronDataTypename() const
@@ -196,10 +215,10 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr Serializer::toWriteInitialTypeMethod() const
{
std::stringstream doc;
- doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
+ doc << "@brief writeInitialType() - 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("static void writeInitialType(armarx::aron::typeIO::WriterInterface& w)", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeInitialType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false)", doc.str()));
CppBlockPtr b = this->getWriteInitialTypeBlock("");
m->setBlock(b);
return m;
@@ -211,7 +230,7 @@ namespace armarx::aron::cppcodegenerator
doc << "@brief writeType() - This method returns a new type from the current class structure using a type writer implementation. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("void writeCurrentType(armarx::aron::typeIO::WriterInterface& w) const override", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("void writeCurrentType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false) const override", doc.str()));
CppBlockPtr b = this->getWriteCurrentTypeBlock("");
m->setBlock(b);
return m;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index 9d115fb427be210f023a79d54f713bfe07501bc1..9e05d78b18863ae48a84c741d41d583fb87d3f3d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -58,8 +58,15 @@ namespace armarx::aron::cppcodegenerator
using PointerType = SerializerPtr;
public:
+ enum class SerializerAccessType
+ {
+ eDIRECT,
+ ePTR,
+ eOPTIONAL
+ };
+
// constructors
- Serializer(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, bool is_ptr = false);
+ Serializer(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, SerializerAccessType = SerializerAccessType::eDIRECT);
// public member methods
std::string getCoreCppTypename() const;
@@ -109,6 +116,8 @@ namespace armarx::aron::cppcodegenerator
// static methods
static std::string ResolveCppTypename(const std::string&);
static std::vector<std::string> ResolveCppTypenames(const std::vector<std::string>&);
+
+ static std::string ResolveAccessor(const std::string&, const typenavigator::NavigatorPtr&);
static std::string EscapeAccessor(const std::string&);
static std::string UnescapeAccessor(const std::string&);
@@ -117,6 +126,22 @@ namespace armarx::aron::cppcodegenerator
static SerializerPtr FromAronTypeNaviagtorPtr(const typenavigator::NavigatorPtr&);
+ protected:
+ std::string nextEl() const
+ {
+ switch (accessType)
+ {
+ case SerializerAccessType::eDIRECT:
+ return ".";
+ case SerializerAccessType::ePTR:
+ return "->";
+ case SerializerAccessType::eOPTIONAL:
+ return "->";
+ default:
+ throw error::AronException("Serializer", "getFullCppTypename", "Received unknown SerializerAccessType");
+ }
+ }
+
private:
// members
const static std::string ARON_DATA_NAME;
@@ -130,7 +155,7 @@ namespace armarx::aron::cppcodegenerator
static const SerializerFactoryPtr FACTORY;
- bool is_ptr;
+ SerializerAccessType accessType;
std::string cppTypename;
std::string aronDataTypename;
std::string aronTypeTypename;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
index 15d698675592fa368cca5b212300d839c2142b8f..af791c3f850cf65f3cdb12eb88659c8144326c9f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
@@ -41,6 +41,7 @@ namespace armarx::aron::cppcodegenerator
{type::Descriptor::eList, SerializerFactoryPtr(new ListSerializerFactory())},
{type::Descriptor::eTuple, SerializerFactoryPtr(new TupleSerializerFactory())},
{type::Descriptor::ePair, SerializerFactoryPtr(new PairSerializerFactory())},
+ {type::Descriptor::eNDArray, SerializerFactoryPtr(new NDArraySerializerFactory())},
{type::Descriptor::eEigenMatrix, SerializerFactoryPtr(new EigenMatrixSerializerFactory())},
{type::Descriptor::eEigenQuaternion, SerializerFactoryPtr(new EigenQuaternionSerializerFactory())},
{type::Descriptor::eIVTCByteImage, SerializerFactoryPtr(new IVTCByteImageSerializerFactory())},
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index 7431b8ee225433eccd286322310c4feb47082ebe..a34a8c5e18ed7fdb3f67a409d79abc29eb9b8c14 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -28,9 +28,12 @@
namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
- DictSerializer::DictSerializer(const typenavigator::DictNavigatorPtr& n) :
- Serializer("std::map<std::string, " + FromAronTypeNaviagtorPtr(n->getAcceptedType())->getFullCppTypename() + ">", simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronDict))),
- navigator(n)
+ DictSerializer::DictSerializer(const typenavigator::DictNavigatorPtr& e) :
+ Serializer("std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ simox::meta::get_type_name(typeid(data::AronDict)),
+ simox::meta::get_type_name(typeid(type::AronDict)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
+ navigator(e)
{
}
@@ -56,7 +59,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".clear();");
+ b->addLine(accessor + " = {};");
return b;
}
@@ -70,7 +73,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDict();");
+ b->addLine("w.writeStartDict({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -85,7 +88,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDict();");
+ b->addLine("w.writeStartDict({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -99,21 +102,21 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("w.writeStartDict();");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator_key = escaped_accessor + DICT_KEY_ACCESSOR;
std::string accessor_iterator_val = escaped_accessor + DICT_VALUE_ACCESSOR;
+ std::string resolved_accessor = ResolveAccessor(accessor, navigator);
- b->addLine("for (const auto& [" + accessor_iterator_key + ", " + accessor_iterator_val + "] : " + accessor + ") ");
+ b->addLine("for (const auto& [" + accessor_iterator_key + ", " + accessor_iterator_val + "] : " + resolved_accessor + ") ");
auto type_s = FromAronTypeNaviagtorPtr(navigator->getAcceptedType());
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
b2->addLine("w.writeKey(" + accessor_iterator_key + ");");
b2 = CppBlock::MergeBlocks(b2, type_s->getWriteBlock(accessor_iterator_val));
b->addBlock(b2);
-
b->addLine("w.writeEndDict();");
return b;
}
@@ -121,7 +124,15 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".clear();");
+ if (navigator->isOptional())
+ {
+ b->addLine(accessor + ".emplace();");
+ }
+ else
+ {
+ b->addLine(accessor + " = {};");
+ }
+
b->addLine("r.readStartDict();");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -135,7 +146,7 @@ namespace armarx::aron::cppcodegenerator::serializer
b2->addLine("std::string " + accessor_iterator_key + " = r.readKey();");
b2->addLine(type_s->getFullCppTypename() + " " + accessor_iterator + ";");
b2 = CppBlock::MergeBlocks(b2, type_s->getReadBlock(accessor_iterator));
- b2->addLine(accessor + "[" + accessor_iterator_key + "] = " + accessor_iterator + ";");
+ b2->addLine(accessor + nextEl() + "insert({" + accessor_iterator_key + ", " + accessor_iterator + "});");
b->addBlock(b2);
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index 2e4f924eb68608d9662231d94cae4e3cb89aa2ef..56dbe6ed86622d9672f9160fdd4086178cecdf95 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -28,7 +28,10 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
ListSerializer::ListSerializer(const typenavigator::ListNavigatorPtr& e) :
- Serializer("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">", simox::meta::get_type_name(typeid(data::AronList)), simox::meta::get_type_name(typeid(type::AronList))),
+ Serializer("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronList)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(e)
{
@@ -54,7 +57,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ListSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".clear();");
+ b->addLine(accessor + " = {};");
return b;
}
@@ -68,7 +71,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ListSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartList();");
+ b->addLine("w.writeStartList({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getFullCppTypename());
@@ -81,7 +84,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ListSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartList();");
+ b->addLine("w.writeStartList({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getFullCppTypename()); // TODO: think about having a better solution not ignoting the current type
@@ -100,8 +103,8 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + LIST_ITERATOR_ACCESSOR;
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- b->addLine("for(unsigned int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".size(); ++" + accessor_iterator + ")");
- CppBlockPtr b2 = type_s->getWriteBlock(accessor + "[" + accessor_iterator + "]");
+ b->addLine("for(unsigned int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "size(); ++" + accessor_iterator + ")");
+ CppBlockPtr b2 = type_s->getWriteBlock(accessor + nextEl() + "at(" + accessor_iterator + ")");
b->addBlock(b2);
b->addLine("w.writeEndList();");
return b;
@@ -110,7 +113,15 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ListSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".clear();");
+ if (typenavigator->isOptional())
+ {
+ b->addLine(accessor + ".emplace();");
+ }
+ else
+ {
+ b->addLine(accessor + " = {};");
+ }
+
b->addLine("r.readStartList();");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -122,7 +133,7 @@ namespace armarx::aron::cppcodegenerator::serializer
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
b2->addLine(type_s->getFullCppTypename() + " " + accessor_iterator + ";");
b2 = CppBlock::MergeBlocks(b2, type_s->getReadBlock(accessor_iterator));
- b2->addLine(accessor + ".push_back(" + accessor_iterator + ");");
+ b2->addLine(accessor + nextEl() + "push_back(" + accessor_iterator + ");");
b->addBlock(b2);
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 7dbfa3665199b9798232af977d5d53a63777716c..855fd6682a05d1b409c814f4a2781635b45a9ae7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -29,10 +29,12 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
+ Serializer(e->getObjectName(),
+ simox::meta::get_type_name(typeid(data::AronDict)),
+ simox::meta::get_type_name(typeid(type::AronObject)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
navigator(e)
{
- //AddObjectTypeToAllObjectTypesList(ObjectNavigatorPtr(this));
}
std::vector<CppFieldPtr> ObjectSerializer::getPublicVariableDeclarations(const std::string& name) const
@@ -55,42 +57,42 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ObjectSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".reset();");
+ b->addLine(accessor + nextEl() + "reset();");
return b;
}
CppBlockPtr ObjectSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".initialize();");
+ b->addLine(accessor + nextEl() + "initialize();");
return b;
}
CppBlockPtr ObjectSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeInitialType(w);");
+ b->addLine(accessor + "::writeInitialType(w, " + std::string(navigator->isOptional() ? "true" : "false") + ");");
return b;
}
CppBlockPtr ObjectSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".writeCurrentType(w);");
+ b->addLine(accessor + nextEl() + "writeCurrentType(w, " + std::string(navigator->isOptional() ? "true" : "false") + ");");
return b;
}
CppBlockPtr ObjectSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".write(w);");
+ b->addLine(accessor + nextEl() + "write(w);");
return b;
}
CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".read(r);");
+ b->addLine(accessor + nextEl() + "read(r);");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index 6981f8625b4d748d97b51188e96f54129cfd2033..9981bb644a260f83adbdc3779ab9fc108253fb9f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -28,7 +28,10 @@
namespace armarx::aron::cppcodegenerator::serializer
{
PairSerializer::PairSerializer(const typenavigator::PairNavigatorPtr& e) :
- Serializer("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">", simox::meta::get_type_name(typeid(data::AronList)), simox::meta::get_type_name(typeid(type::AronPair))),
+ Serializer("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronPair)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(e)
{
@@ -56,11 +59,11 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b = CppBlockPtr(new CppBlock());
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getInitializeBlock(accessor + ".first");
+ CppBlockPtr b21 = child_s1->getInitializeBlock(accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getInitializeBlock(accessor + ".second");
+ CppBlockPtr b22 = child_s2->getInitializeBlock(accessor + nextEl() + "second");
b->appendBlock(b22);
return b;
@@ -69,7 +72,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PairSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPair();");
+ b->addLine("w.writeStartPair({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -92,7 +95,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PairSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPair();");
+ b->addLine("w.writeStartPair({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -117,11 +120,11 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b = CppBlockPtr(new CppBlock());
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getResetBlock(accessor + ".first");
+ CppBlockPtr b21 = child_s1->getResetBlock(accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getResetBlock(accessor + ".second");
+ CppBlockPtr b22 = child_s2->getResetBlock(accessor + nextEl() + "second");
b->appendBlock(b22);
return b;
@@ -132,12 +135,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartList();");
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getWriteBlock(accessor + ".first");
+ CppBlockPtr b21 = child_s1->getWriteBlock(resolved_accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getWriteBlock(accessor + ".second");
+ CppBlockPtr b22 = child_s2->getWriteBlock(resolved_accessor + nextEl() + "second");
b->appendBlock(b22);
b->addLine("w.writeEndList();");
@@ -147,15 +152,25 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PairSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ if (typenavigator->isOptional())
+ {
+ b->addLine(accessor + ".emplace();");
+ }
+ else
+ {
+ b->addLine(accessor + " = {};");
+ }
+
b->addLine("r.readStartList();");
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getReadBlock(accessor + ".first");
+ CppBlockPtr b21 = child_s1->getReadBlock(resolved_accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getReadBlock(accessor + ".second");
+ CppBlockPtr b22 = child_s2->getReadBlock(resolved_accessor + nextEl() + "second");
b->appendBlock(b22);
b->addLine("r.readEndList();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index b83f2cd9e17c1e669749452fac0d827080b34a67..7643ef634fec65abe47251236db9af1844a5f8c8 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -28,7 +28,10 @@
namespace armarx::aron::cppcodegenerator::serializer
{
TupleSerializer::TupleSerializer(const typenavigator::TupleNavigatorPtr& e) :
- Serializer("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">", simox::meta::get_type_name(typeid(data::AronList)), simox::meta::get_type_name(typeid(type::AronTuple))),
+ Serializer("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronTuple)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(e)
{
@@ -68,7 +71,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr TupleSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTuple();");
+ b->addLine("w.writeStartTuple({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -87,7 +90,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr TupleSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTuple();");
+ b->addLine("w.writeStartTuple({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -122,11 +125,13 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartList();");
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
unsigned int i = 0;
for (const auto& type : typenavigator->getAcceptedTypes())
{
auto type_s = FromAronTypeNaviagtorPtr(type);
- CppBlockPtr b2 = type_s->getWriteBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
+ CppBlockPtr b2 = type_s->getWriteBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
b->appendBlock(b2);
}
b->addLine("w.writeEndList();");
@@ -136,14 +141,24 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr TupleSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ if (typenavigator->isOptional())
+ {
+ b->addLine(accessor + ".emplace();");
+ }
+ else
+ {
+ b->addLine(accessor + " = {};");
+ }
+
b->addLine("r.readStartList();");
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
unsigned int i = 0;
for (const auto& type : typenavigator->getAcceptedTypes())
{
auto type_s = FromAronTypeNaviagtorPtr(type);
- CppBlockPtr b2 = type_s->getReadBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
+ CppBlockPtr b2 = type_s->getReadBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
b->appendBlock(b2);
}
b->addLine("r.readEndList();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index a7ed2ec3339fcbd368b81b7afa3d7f0a873a8735..f0c1a3ff09316adc0a66c43b47ec29e09edee5fb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -27,9 +27,12 @@
namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
- IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
- Serializer(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum))),
- navigator(n)
+ IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& e) :
+ Serializer(e->getEnumName(),
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronIntEnum)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
+ navigator(e)
{
}
@@ -53,42 +56,42 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IntEnumSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".reset();");
+ b->addLine(accessor + nextEl() + "reset();");
return b;
}
CppBlockPtr IntEnumSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeInitialType(w);");
+ b->addLine(accessor + "::writeInitialType(w, " + std::string(navigator->isOptional() ? "true" : "false") + ");");
return b;
}
CppBlockPtr IntEnumSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".writeCurrentType(w);");
+ b->addLine(accessor + nextEl() + "writeCurrentType(w, " + std::string(navigator->isOptional() ? "true" : "false") + ");");
return b;
}
CppBlockPtr IntEnumSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".initialize();");
+ b->addLine(accessor + nextEl() + "initialize();");
return b;
}
CppBlockPtr IntEnumSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".write(w);");
+ b->addLine(accessor + nextEl() + "write(w);");
return b;
}
CppBlockPtr IntEnumSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + ".read(r);");
+ b->addLine(accessor + nextEl() + "read(r);");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index 9bb5203eb76777c0c09a08667689c108ddb25c85..9c5dafcafa821eb06a542a3e1b591e03168b2f87 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -40,7 +40,10 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
EigenMatrixSerializer::EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenMatrix))),
+ Serializer("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronEigenMatrix)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -72,28 +75,29 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenMatrixSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenMatrix({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({" + accessor + ".rows(), " + accessor + ".cols()}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenMatrix({{" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols()}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr EigenMatrixSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
+ b->addLine(accessor + " = {};");
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + ".rows(), " + accessor + ".cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
+
+ b->addLine("w.writeNDArray({" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
return b;
}
@@ -101,14 +105,14 @@ namespace armarx::aron::cppcodegenerator::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("r.readStartNDArray(); // We do not need the dims and type since a EigenMat can not change (templated)");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
return b;
}
CppBlockPtr EigenMatrixSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index 825765164e23e2358dc465171d667f6dbe117020..2a899daa0c70cdc12a0e2b091cb365559b90a01f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -35,7 +35,10 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
EigenQuaternionSerializer::EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr& n) :
- Serializer("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenQuaternion))),
+ Serializer("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronEigenQuaternion)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -67,14 +70,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenQuaternionSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternion(\"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternion(\"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
@@ -88,7 +91,10 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenQuaternionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".coeffs().data()));");
+
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + resolved_accessor + nextEl() + "coeffs().data()));");
return b;
}
@@ -96,14 +102,14 @@ namespace armarx::aron::cppcodegenerator::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("r.readStartNDArray(); // We do not need the dims and type since a EigenMat can not change (templated)");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".coeffs().data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index cdb9e79036d16756fb4e2f6f05c97bcf1d7d6b2e..478f1a789ee68f555f4e9e0bca5b1328a65f0453 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -36,7 +36,9 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
IVTCByteImageSerializer::IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr& e) :
- Serializer("CByteImage", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), true),
+ Serializer("CByteImage",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), SerializerAccessType::ePTR), // a ptr is by default optional. We ignore the setting here
typenavigator(e)
{
// check if type exists
@@ -63,7 +65,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IVTCByteImageSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "->Set(" + accessor + "->width, " + accessor + "->height, " + accessor + "->type);");
+ b->addLine(accessor + nextEl() + "Set(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "type);");
return b;
}
@@ -77,21 +79,22 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IVTCByteImageSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImage(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeIVTCByteImage({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImage(" + accessor + "->width, " + accessor + "->height, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeIVTCByteImage({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + "->width, " + accessor + "->height, " + accessor + "->bytesPerPixel}, std::to_string(" + accessor + "->type), reinterpret_cast<const unsigned char*>(" + accessor + "->pixels));");
+
+ b->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "bytesPerPixel}, std::to_string(" + accessor + nextEl() + "type), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "pixels));");
return b;
}
@@ -103,17 +106,17 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string type_accessor = escaped_accessor + TYPE_ACCESSOR;
b->addLine("const auto [" + dims_accessor + ", " + type_accessor + "] = r.readStartNDArray();");
- b->addLine(accessor + "->Set(" + dims_accessor + "[0], " + dims_accessor + "[1], static_cast<CByteImage::ImageType>(std::stoi(" + type_accessor + ")));");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->pixels));");
+ b->addLine(accessor + nextEl() + "Set(" + dims_accessor + "[0], " + dims_accessor + "[1], static_cast<CByteImage::ImageType>(std::stoi(" + type_accessor + ")));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels));");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + "->IsCompatible(" + otherInstanceAccessor + ".get())))");
+ b->addLine("if (not (" + accessor + nextEl() + "IsCompatible(" + otherInstanceAccessor + ".get())))");
b->addLine("\t return false;");
- b->addLine("if (not (memcmp(" + accessor + "->pixels, " + otherInstanceAccessor + "->pixels, " + accessor + "->width * " + accessor + "->height * " + accessor + "->bytesPerPixel) == 0))");
+ b->addLine("if (not (memcmp(" + accessor + nextEl() + "pixels, " + otherInstanceAccessor + nextEl() + "pixels, " + accessor + nextEl() + "width * " + accessor + nextEl() + "height * " + accessor + nextEl() + "bytesPerPixel) == 0))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..50609e51f789cb353c716623d0bf54863a93cdcc
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -0,0 +1,99 @@
+/*
+ * 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 "NDArray.h"
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+ // constructors
+ NDArraySerializer::NDArraySerializer(const typenavigator::NDArrayNavigatorPtr& n) :
+ Serializer("NDArray",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronNDArray))),
+ typenavigator(n)
+ {
+ }
+
+ std::vector<CppFieldPtr> NDArraySerializer::getPublicVariableDeclarations(const std::string& name) const
+ {
+ CppFieldPtr field = CppFieldPtr(new CppField(getFullCppTypename(), name));
+ return {field};
+ }
+
+ std::vector<std::pair<std::string, std::string>> NDArraySerializer::getCtorInitializers(const std::string&) const
+ {
+ return {};
+ }
+
+ CppBlockPtr NDArraySerializer::getCtorBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getResetBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getInitializeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getWriteInitialTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getWriteCurrentTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getWriteBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getReadBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr NDArraySerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
new file mode 100644
index 0000000000000000000000000000000000000000..46e45ff141ed98804cebe4d9d565b48ce2c68ffa
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
@@ -0,0 +1,69 @@
+/*
+ * 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>
+#include <map>
+
+// Base Class
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h>
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+ class NDArraySerializer;
+ typedef std::shared_ptr<NDArraySerializer> AronNDArrayTypeCppSerializerPtr;
+
+ class NDArraySerializer :
+ virtual public Serializer
+ {
+ public:
+ using PointerType = AronNDArrayTypeCppSerializerPtr;
+
+ public:
+ // constructors
+ NDArraySerializer(const typenavigator::NDArrayNavigatorPtr&);
+
+ // virtual implementations
+ virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
+ virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
+ virtual CppBlockPtr getCtorBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteBlock(const std::string&) const override;
+ virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+
+ private:
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
+
+ typenavigator::NDArrayNavigatorPtr typenavigator;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index 3961a3884b7867599997cc2c1b695d8abeffec7b..f926b370cadaf3555fdabdb80a31fc19ed0205af 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -40,7 +40,10 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& e) :
- Serializer("cv::Mat", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOpenCVMat))),
+ Serializer("cv::Mat",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronOpenCVMat)),
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(e)
{
// check if type exists
@@ -76,11 +79,11 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
b->appendBlock(b2);
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_dimensions + ", " + accessor + ".type());");
+ b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_dimensions + ", " + accessor + nextEl() + "type());");
return b;
}
@@ -94,7 +97,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OpenCVMatSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOpenCVMat({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeOpenCVMat({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
@@ -107,11 +110,11 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
b->appendBlock(b2);
- b->addLine("w.writeOpenCVMat(" + accessor_dimensions + ", std::to_string(" + accessor + ".type()));");
+ b->addLine("w.writeOpenCVMat({" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
@@ -124,12 +127,12 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
b->appendBlock(b2);
- b->addLine(accessor_dimensions + ".push_back(" + accessor + ".elemSize());");
- b->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + ".type()), reinterpret_cast<const unsigned char*>(" + accessor + ".data));");
+ b->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "elemSize());");
+ b->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data));");
return b;
}
@@ -142,7 +145,7 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
b->addLine(accessor + " = " + getFullCppTypename() + "(std::vector<int>({" + accessor_dimensions + ".begin(), std::prev(" + accessor_dimensions + ".end())}), std::stoi(" + accessor_type + "));");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data));");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index a431295f0583429740b3c43f0b64dfccf24b5499..ba47bde1d4cda9f0081513cb149a423e34a6692b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -28,7 +28,10 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
- Serializer("Eigen::Quaternion<" + n->getTypename() + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOrientation))),
+ Serializer("Eigen::Quaternion<" + n->getTypename() + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronOrientation)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -67,21 +70,22 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OrientationSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientation();");
+ b->addLine("w.writeOrientation({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr OrientationSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientation();");
+ b->addLine("w.writeOrientation({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".coeffs().data()));");
+
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
return b;
}
@@ -94,14 +98,14 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".coeffs().data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
return b;
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index cd14f9221dce3541d1f2f2e59720077a8caed805..4fe173666fc0d63da3e2f25721d178d0b5ecf9a7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -41,7 +41,10 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
PCLPointCloudSerializer::PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr& n) :
- Serializer("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPCLPointCloud))),
+ Serializer("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPCLPointCloud)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -66,7 +69,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PCLPointCloudSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor + ".width, " + accessor + ".height);");
+ b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height);");
return b;
}
@@ -80,21 +83,22 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PCLPointCloudSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloud(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writePCLPointCloud({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloud(" + accessor + ".width, " + accessor + ".height, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writePCLPointCloud({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + ".width, " + accessor + ".height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".points.data()));");
+
+ b->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "points.data()));");
return b;
}
@@ -107,14 +111,14 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine("const auto [" + dims_accessor + ", " + type_accessor + "] = r.readStartNDArray();");
b->addLine(accessor + " = " + getFullCppTypename() + "(" + dims_accessor + "[0], " + dims_accessor + "[1]);");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".points.data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data()));");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (" + accessor + ".width != " + otherInstanceAccessor + ".width || " + accessor + ".height != " + otherInstanceAccessor + ".height)");
+ b->addLine("if (" + accessor + nextEl() + "width != " + otherInstanceAccessor + nextEl() + "width || " + accessor + nextEl() + "height != " + otherInstanceAccessor + nextEl() + "height)");
b->addLine("\t return false;");
//b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
//b->addLine("\t return false;");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index b7039894e985935fb8fb38e0d97fc10af7f7bd85..9ee7758b12e559e57952d181aa0b8c223f5e6a8f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -28,7 +28,10 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPose))),
+ Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPose)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -67,21 +70,24 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePose();");
+ b->addLine("w.writePose({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PoseSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePose();");
+ b->addLine("w.writePose({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
+
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + resolved_accessor + nextEl() + "data()));");
return b;
}
@@ -94,14 +100,14 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
return b;
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index 4bb664d2ece7171047ca837e1642a45250de19cf..672d01502f52fec8c1737f15a3366acbe3ee17b2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -28,7 +28,10 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPosition))),
+ Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">",
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPosition)),
+ (n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(n)
{
}
@@ -67,21 +70,24 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePosition();");
+ b->addLine("w.writePosition({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PositionSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePosition();");
+ b->addLine("w.writePosition({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
+
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator);
+
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + resolved_accessor + nextEl() + "data()));");
return b;
}
@@ -94,14 +100,14 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
return b;
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
index 28c002f1ccb06aa6e9484df1c15c40c2c9e55615..fd1abae709f062a8137963f0b47a7f4a0d478606 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
@@ -46,7 +46,10 @@ namespace armarx::aron::cppcodegenerator::serializer
#define RUN_ARON_MACRO(upperType, lowerType, capsType, upperData, lowerData, capsData) \
/* constructors */ \
upperType##Serializer::upperType##Serializer(const typenavigator::upperType##NavigatorPtr& e) : \
- Serializer(convertStdString(#lowerData), simox::meta::get_type_name(typeid(data::Aron##upperData)), simox::meta::get_type_name(typeid(type::Aron##upperType))), \
+ Serializer(convertStdString(#lowerData), \
+ simox::meta::get_type_name(typeid(data::Aron##upperData)), \
+ simox::meta::get_type_name(typeid(type::Aron##upperType)), \
+ (e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)), \
typenavigator(e) \
{ \
\
@@ -87,27 +90,30 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr upperType##Serializer::getWriteInitialTypeBlock(const std::string&) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.write" + std::string(#upperType) + "();"); \
+ b->addLine("w.write" + std::string(#upperType) + "({" + std::string(typenavigator->isOptional() ? "true" : "false")+"});"); \
return b; \
} \
\
CppBlockPtr upperType##Serializer::getWriteCurrentTypeBlock(const std::string&) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.write" + std::string(#upperType) + "();"); \
+ b->addLine("w.write" + std::string(#upperType) + "({" + std::string(typenavigator->isOptional() ? "true" : "false")+"});"); \
return b; \
} \
\
CppBlockPtr upperType##Serializer::getWriteBlock(const std::string& accessor) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.writePrimitive(" + accessor + ");"); \
+ \
+ std::string resolved_accessor = ResolveAccessor(accessor, typenavigator); \
+ b->addLine("w.writePrimitive(" + resolved_accessor + ");"); \
return b; \
} \
\
CppBlockPtr upperType##Serializer::getReadBlock(const std::string& accessor) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
+ \
b->addLine("r.readPrimitive("+accessor+");"); \
return b; \
} \
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index d9d22766cf2f51e163758c27c962661a3cb6758f..27c683a382afc5f378faafa7fd8c93b94a41e31d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -32,6 +32,10 @@ namespace armarx::aron::cppcodegenerator::serializer
navigator(n),
enumName("__ImplEnum")
{
+ if (n->isOptional())
+ {
+ throw error::AronException("IntEnumClassSerializer", "IntEnumClassSerializer", "Somehow the optional flag of a top level int enum declaration is set. This is not valid!");
+ }
}
std::vector<CppFieldPtr> IntEnumClassSerializer::getPublicVariableDeclarations(const std::string&) const
@@ -94,14 +98,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IntEnumClassSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt();");
+ b->addLine("w.writeInt({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
return b;
}
CppBlockPtr IntEnumClassSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt();");
+ b->addLine("w.writeInt({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
index 25abfc6f9c848d3e78dbcb67e738ac80d2f8672b..370c58e31207d3aabb72e62801e8322b5895198f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -32,7 +32,10 @@ namespace armarx::aron::cppcodegenerator::serializer
Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
navigator(e)
{
- //AddObjectTypeToAllObjectTypesList(ObjectNavigatorPtr(this));
+ if (e->isOptional())
+ {
+ throw error::AronException("ObjectClassSerializer", "ObjectClassSerializer", "Somehow the optional flag of a top level object declaration is set. This is not valid!");
+ }
}
std::vector<CppFieldPtr> ObjectClassSerializer::getPublicVariableDeclarations(const std::string&) const
@@ -103,12 +106,12 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine(extends_s->getFullCppTypename() + "::writeInitialType(w);");
}
- b->addLine("w.writeStartObject(\"" + navigator->getObjectName() + "\");");
+ b->addLine("w.writeStartObject({\"" + navigator->getObjectName() + "\", type_is_optional});");
for (const auto& [key, child] : navigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteInitialTypeBlock(child_s->getFullCppTypename());
+ CppBlockPtr b2 = child_s->getWriteInitialTypeBlock(child_s->getCoreCppTypename());
b->appendBlock(b2);
}
b->addLine("w.writeEndObject();");
@@ -124,7 +127,7 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine(extends_s->getFullCppTypename() + "::writeCurrentType(w);");
}
- b->addLine("w.writeStartObject(\"" + navigator->getObjectName() + "\");");
+ b->addLine("w.writeStartObject({\"" + navigator->getObjectName() + "\", type_is_optional});");
for (const auto& [key, child] : navigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -149,9 +152,21 @@ namespace armarx::aron::cppcodegenerator::serializer
for (const auto& [key, child] : navigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteBlock(key);
- b->appendBlock(b2);
+ CppBlockPtr q = CppBlockPtr(new CppBlock());
+
+ q->addLine("w.writeKey(\"" + key + "\");");
+ CppBlockPtr child_b = child_s->getWriteBlock(key);
+ q->appendBlock(child_b);
+
+ if (child->isOptional())
+ {
+ b->addLine("if (" + key + ".has_value())");
+ b->addBlock(q);
+ }
+ else
+ {
+ b->appendBlock(q);
+ }
}
b->addLine("w.writeEndDict();");
return b;
@@ -170,9 +185,21 @@ namespace armarx::aron::cppcodegenerator::serializer
for (const auto& [key, child] : navigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("r.loadMember(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getReadBlock(key);
- b->appendBlock(b2);
+ CppBlockPtr q = CppBlockPtr(new CppBlock());
+
+ CppBlockPtr child_b = child_s->getReadBlock(key);
+ q->appendBlock(child_b);
+
+ if (child->isOptional())
+ {
+ b->addLine("if (r.loadMember(\"" + key + "\"));");
+ b->addBlock(q);
+ }
+ else
+ {
+ b->addLine("r.loadMember(\"" + key + "\");");
+ b->appendBlock(q);
+ }
}
b->addLine("r.readEndDict();");
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
index 2f152c9e4d1d2925d8a0c5848f9529458b666604..b0aee6f1e7d4e7b8fbae78c04d38580325b89ab4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -56,6 +56,7 @@ namespace armarx::aron::xmltypereader
static constexpr const char* INCLUDE_TAG = "include";
static constexpr const char* GENERATE_OBJECT_TAG = "object";
static constexpr const char* GENERATE_INT_ENUM_TAG = "intenum";
+ static constexpr const char* GENERATE_NDARRAY_TAG = "ndarray";
// Attribute names
static constexpr const char* METHOD_ATTRIBUTE_NAME = "method";
@@ -74,6 +75,7 @@ namespace armarx::aron::xmltypereader
static constexpr const char* ROWS_ATTRIBUTE_NAME = "rows";
static constexpr const char* COLS_ATTRIBUTE_NAME = "cols";
static constexpr const char* DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
+ static constexpr const char* OPTIONAL_NAME = "optional";
// Second level tags. Only important if in specific top level tag
static constexpr const char* OBJECT_CHILD_TAG = "objectchild";
@@ -114,6 +116,19 @@ namespace armarx::aron::xmltypereader
return node.attribute_value(att.c_str());
}
+ static bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att)
+ {
+ 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 == "")
+ {
+ return true;
+ }
+ }
+ return false;
+ }
+
static bool HasTagName(const RapidXmlReaderNode& node, const std::string& name)
{
return (simox::alg::to_lower(name) == simox::alg::to_lower(node.name()));
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
index cf56e483356695bf2b54a747e36c4d758e7f1a56..bc2cc0b58c5ac28b7fd207c8a4a2aaf1b896c17f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
@@ -194,14 +194,12 @@ namespace armarx::aron::xmltypereader
{
Data::EnforceTagName(node, Data::GENERATE_OBJECT_TAG);
return typenavigator::ObjectNavigator::DynamicCastAndCheck(factory.create(node, Path()));
-
}
typenavigator::IntEnumNavigatorPtr Reader::readGenerateIntEnum(const RapidXmlReaderNode& node) const
{
Data::EnforceTagName(node, Data::GENERATE_INT_ENUM_TAG);
return typenavigator::IntEnumNavigator::DynamicCastAndCheck(factory.create(node, Path()));
-
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index da9eff9f25c9ee9478d7c183ae4fde981e21a16f..4d65cf80468f605a9a94f2e4b02358d0267dbfd7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -77,13 +77,15 @@ namespace armarx::aron::xmltypereader
const auto public_intenum_it = AllPublicIntEnums.find(name);
if (public_intenum_it != AllPublicIntEnums.end())
{
- return public_intenum_it->second->correspondingType;
+ // copy the navigator
+ return typenavigator::Navigator::FromAronType(public_intenum_it->second->correspondingType->getResult());
}
const auto public_obj_it = AllPublicObjects.find(name);
if (public_obj_it != AllPublicObjects.end())
{
- return public_obj_it->second->correspondingType;
+ // copy the navigator
+ return typenavigator::Navigator::FromAronType(public_obj_it->second->correspondingType->getResult());
}
throw error::StringNotValidException("XMLReaderFactory", "ResolveTypename", "Could not find a tag. You can only access already finished public objects.", name);
@@ -133,8 +135,11 @@ namespace armarx::aron::xmltypereader
Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+ bool is_optional = Data::AttributeIsTrue(objectChild, Data::OPTIONAL_NAME);
+
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
+ childNavigator->setOptional(is_optional);
aronObjectType->addMemberType(key, childNavigator);
}
ObjectGenerationStack.pop();
@@ -163,7 +168,9 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> listTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
+ bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
+ type->setOptional(is_optional);
list->setAcceptedType(type);
return list;
@@ -178,9 +185,11 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> dictTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
+ bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- dict->setAcceptedType(type);
+ type->setOptional(is_optional);
+ dict->setAcceptedType(type);
return dict;
}
@@ -203,8 +212,11 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = typeNodeChildren[0];
+ bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "<" + std::to_string(i++) + ">"));
+ type->setOptional(is_optional);
+
tuple->addAcceptedType(type);
}
return tuple;
@@ -227,19 +239,31 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> type1NodeChildren = nodeChildren[0].nodes();
const RapidXmlReaderNode type1Node = type1NodeChildren[0];
+ bool is_optional1 = Data::AttributeIsTrue(type1Node, Data::OPTIONAL_NAME);
+
typenavigator::NavigatorPtr type1 = create(type1Node, Path(path, std::to_string(0)));
+ type1->setOptional(is_optional1);
pair->setFirstAcceptedType(type1);
Data::EnforceChildSize(nodeChildren[1], 1);
std::vector<RapidXmlReaderNode> type2NodeChildren = nodeChildren[1].nodes();
const RapidXmlReaderNode type2Node = type2NodeChildren[0];
+ bool is_optional2 = Data::AttributeIsTrue(type2Node, Data::OPTIONAL_NAME);
+
typenavigator::NavigatorPtr type2 = create(type2Node, Path(path, std::to_string(1)));
+ type2->setOptional(is_optional2);
pair->setSecondAcceptedType(type2);
return pair;
}
+ // Complex type (NDArray)
+ typenavigator::NavigatorPtr NDArrayReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ return nullptr;
+ }
+
// Complex type (IVTCByteImage)
typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
diff --git a/source/RobotAPI/libraries/aron/core/io/Data.h b/source/RobotAPI/libraries/aron/core/io/Data.h
index 73c693b53311f47232c1b581698dc7765495c8c4..dd2b5eb0fa4d25905818934336b021520706d3c4 100644
--- a/source/RobotAPI/libraries/aron/core/io/Data.h
+++ b/source/RobotAPI/libraries/aron/core/io/Data.h
@@ -41,6 +41,8 @@ namespace armarx::aron::io
public:
// TODO: Remove copy from ReaderWriter
static constexpr const char* READER_WRITER_NAME_SLUG = "__ARON_NAME";
+ static constexpr const char* READER_WRITER_OPTIONAL_SLUG = "__OPTIONAL";
+
static constexpr const char* READER_WRITER_DICT_ACCEPTED_TYPE_SLUG = "__ARON_DICT_ACCEPTED_TYPE";
static constexpr const char* READER_WRITER_LIST_ACCEPTED_TYPE_SLUG = "__ARON_LIST_ACCEPTED_TYPE";
@@ -53,6 +55,8 @@ namespace armarx::aron::io
static constexpr const char* READER_WRITER_INT_ENUM_VALUE_SLUG = "__ARON_INT_ENUM_VALUE";
static constexpr const char* READER_WRITER_ENUM_KEY_SLUG = "__ARON_ENUM_KEY";
+ static constexpr const char* READER_WRITER_PRIMITIVE_NAME_SLUG = "__ARON_PRIMITIVE_NAME";
+
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
static constexpr const char* READER_WRITER_##capsType##_TYPENAME_SLUG = #capsType;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6ebf4a1ffedb68147602ff9b718afaa155b8dbb8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.cpp
@@ -0,0 +1,67 @@
+/*
+* 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
+*/
+
+#include "Reader.h"
+
+namespace armarx::aron::dataIO
+{
+ void ReaderInterface::readPrimitive(std::optional<int>& o)
+ {
+ int i;
+ readPrimitive(i);
+ o = i;
+ }
+
+ void ReaderInterface::readPrimitive(std::optional<long>& o)
+ {
+ long i;
+ readPrimitive(i);
+ o = i;
+ }
+
+ void ReaderInterface::readPrimitive(std::optional<float>& o)
+ {
+ float i;
+ readPrimitive(i);
+ o = i;
+ }
+
+ void ReaderInterface::readPrimitive(std::optional<double>& o)
+ {
+ double i;
+ readPrimitive(i);
+ o = i;
+ }
+
+ void ReaderInterface::readPrimitive(std::optional<std::string>& o)
+ {
+ std::string i;
+ readPrimitive(i);
+ o = i;
+ }
+
+ void ReaderInterface::readPrimitive(std::optional<bool>& o)
+ {
+ bool i;
+ readPrimitive(i);
+ o = i;
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
index 574b9167d3f6b77e4b2a8434a5dfb90911cabd2c..6c7019ae5fd842babfb929640f5e0ccd895ee9a2 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
@@ -24,6 +24,7 @@
#include <memory>
#include <string>
#include <vector>
+#include <optional>
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
@@ -52,6 +53,13 @@ namespace armarx::aron::dataIO
virtual void readPrimitive(std::string&) = 0;
virtual void readPrimitive(bool&) = 0;
+ void readPrimitive(std::optional<int>&);
+ void readPrimitive(std::optional<long>&);
+ void readPrimitive(std::optional<float>&);
+ void readPrimitive(std::optional<double>&);
+ void readPrimitive(std::optional<std::string>&);
+ void readPrimitive(std::optional<bool>&);
+
template<class T>
T readPrimitive()
{
@@ -61,7 +69,7 @@ namespace armarx::aron::dataIO
}
virtual std::string readKey() = 0;
- virtual void loadMember(const std::string&) = 0;
+ virtual bool loadMember(const std::string&) = 0;
// Helper functions
virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e78a27bd58bbba3fa6f64c28b7fa8d721b94c0fd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.cpp
@@ -0,0 +1,21 @@
+/*
+* 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
+*/
+
+#include "Writer.h"
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
index b1c8e774e9b252bb582ba7a7dbf2c38c8f158122..2b9379be17ea9b3da8637547f1974fe1a57b4136 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
@@ -85,6 +85,15 @@ namespace armarx::aron::dataIO
return this->currentKey;
}
+ bool hasKey(const std::string& k) const
+ {
+ if (descriptor != data::Descriptor::eDict)
+ {
+ throw error::DescriptorNotValidException("ReaderTokenInterface", "hasKey", "Checking whether a container has a key only makes sense in a dict.", descriptor);
+ }
+ return std::find(allMemberNames.begin(), allMemberNames.end(), k) != allMemberNames.end();
+ }
+
void setCurrentKey(const std::string& s)
{
currentKey = s;
@@ -92,7 +101,7 @@ namespace armarx::aron::dataIO
void assertType(data::Descriptor t) const
{
- if (getDescriptor() != t)
+ if (descriptor != t)
{
throw error::DescriptorNotValidException("dataIO::ReaderTokenInterface", "assertType", "The type was not equal.", t);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
index 2dc7c3db842d4e7deb5ee1c5d94b4be5618f2e64..d3cefab09eb9c25ff51be877bf4759abc647938c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
@@ -183,10 +183,15 @@ namespace armarx::aron::dataIO::reader
return token->getCurrentKey();
}
- void NavigatorReader::loadMember(const std::string& k)
+ bool NavigatorReader::loadMember(const std::string& k)
{
auto token = stack.top();
- token->setCurrentKey(k);
+ if (token->hasKey(k))
+ {
+ token->setCurrentKey(k);
+ return true;
+ }
+ return false;
}
// Helper functions
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
index db52ad1d85c2f10807d10f63bc44c7de717e6b97..d5365a8882a5225118ac71b4a89c251a10f1bd95 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
@@ -64,7 +64,7 @@ namespace armarx::aron::dataIO::reader
virtual void readPrimitive(bool&) override;
virtual std::string readKey() override;
- virtual void loadMember(const std::string&) override;
+ virtual bool loadMember(const std::string&) override;
virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index c243c4e4beaf851090607423dd91e1d5ade4118a..59a2351ac168da60e03145a3dd9e6d0723859f0e 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -175,10 +175,15 @@ namespace armarx::aron::dataIO::reader
return token->getCurrentKey();
}
- void NlohmannJSONReader::loadMember(const std::string& k)
+ bool NlohmannJSONReader::loadMember(const std::string& k)
{
auto token = stack.top();
- token->setCurrentKey(k);
+ if (token->hasKey(k))
+ {
+ token->setCurrentKey(k);
+ return true;
+ }
+ return false;
}
// Helper functions
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
index 7749530308b806da5898881879cef6df26143358..03202f7beb73c8bacedc1c15c24400912347edd9 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -62,7 +62,7 @@ namespace armarx::aron::dataIO::reader
virtual void readPrimitive(bool&) override;
virtual std::string readKey() override;
- virtual void loadMember(const std::string&) override;
+ virtual bool loadMember(const std::string&) override;
virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4fe8d311a52e250284f99917ca02d2afd6cfeaf8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.cpp
@@ -0,0 +1,21 @@
+/*
+* 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
+*/
+
+#include "Reader.h"
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
index 738b4c351b068bbfc54b363cf68901dbb6035837..d3ea6201053c06c81730af1723afaf091f7cf651 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
@@ -38,33 +38,117 @@ namespace armarx::aron::typeIO
class ReaderInterface
{
public:
- virtual std::tuple<std::string, int> readStartObject() = 0;
+ struct ReadStartObjectReturnType
+ {
+ std::string name;
+ unsigned int elements;
+ bool is_optional;
+ };
+ virtual ReadStartObjectReturnType readStartObject() = 0;
virtual bool readEndObject() = 0;
- virtual int readStartList() = 0;
+
+ struct ReadStartListReturnType
+ {
+ unsigned int elements;
+ bool is_optional;
+ };
+ virtual ReadStartListReturnType readStartList() = 0;
virtual bool readEndList() = 0;
- virtual int readStartDict() = 0;
+
+ struct ReadStartDictReturnType
+ {
+ unsigned int elements;
+ bool is_optional;
+ };
+ virtual ReadStartDictReturnType readStartDict() = 0;
virtual bool readEndDict() = 0;
- virtual int readStartTuple() = 0;
+
+ struct ReadStartTupleReturnType
+ {
+ unsigned int elements;
+ bool is_optional;
+ };
+ virtual ReadStartTupleReturnType readStartTuple() = 0;
virtual bool readEndTuple() = 0;
- virtual int readStartPair() = 0;
+
+ struct ReadStartPairReturnType
+ {
+ unsigned int elements;
+ bool is_optional;
+ };
+ virtual ReadStartPairReturnType readStartPair() = 0;
virtual bool readEndPair() = 0;
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() = 0;
- virtual std::string readEigenQuaternion() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() = 0;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() = 0;
- virtual void readPosition() = 0;
- virtual void readOrientation() = 0;
- virtual void readPose() = 0;
-
- virtual void readInt() = 0;
- virtual void readLong() = 0;
- virtual void readFloat() = 0;
- virtual void readDouble() = 0;
- virtual void readString() = 0;
- virtual void readBool() = 0;
- virtual void readTime() = 0;
+ struct ReadEigenMatrixReturnType
+ {
+ std::vector<int> dimensions;
+ std::string type;
+ bool is_optional;
+ };
+ virtual ReadEigenMatrixReturnType readEigenMatrix() = 0;
+
+ struct ReadEigenQuaternionReturnType
+ {
+ std::string type;
+ bool is_optional;
+ };
+ virtual ReadEigenQuaternionReturnType readEigenQuaternion() = 0;
+
+ struct ReadIVTCbyteImageReturnType
+ {
+ unsigned int width;
+ unsigned int height;
+ std::string type;
+ bool is_optional;
+ };
+ virtual ReadIVTCbyteImageReturnType readIVTCByteImage() = 0;
+
+ struct ReadOpenCVMatReturnType
+ {
+ std::vector<int> dimensions;
+ std::string type;
+ bool is_optional;
+ };
+ virtual ReadOpenCVMatReturnType readOpenCVMat() = 0;
+
+ struct ReadPCLPointCloudReturnType
+ {
+ unsigned int width;
+ unsigned int height;
+ std::string type;
+ bool is_optional;
+ };
+ virtual ReadPCLPointCloudReturnType readPCLPointCloud() = 0;
+
+ struct ReadPositionReturnType
+ {
+ bool is_optional;
+ };
+ virtual ReadPositionReturnType readPosition() = 0;
+
+ struct ReadOrientationReturnType
+ {
+ bool is_optional;
+ };
+ virtual ReadOrientationReturnType readOrientation() = 0;
+
+ struct ReadPoseReturnType
+ {
+ bool is_optional;
+ };
+ virtual ReadPoseReturnType readPose() = 0;
+
+ struct ReadPrimitiveReturnType
+ {
+ bool is_optional;
+ };
+ virtual ReadPrimitiveReturnType readInt() = 0;
+ virtual ReadPrimitiveReturnType readLong() = 0;
+ virtual ReadPrimitiveReturnType readFloat() = 0;
+ virtual ReadPrimitiveReturnType readDouble() = 0;
+ virtual ReadPrimitiveReturnType readString() = 0;
+ virtual ReadPrimitiveReturnType readBool() = 0;
+ virtual ReadPrimitiveReturnType readTime() = 0;
virtual std::string readKey() = 0;
virtual void loadMember(const std::string&) = 0;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e78a27bd58bbba3fa6f64c28b7fa8d721b94c0fd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.cpp
@@ -0,0 +1,21 @@
+/*
+* 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
+*/
+
+#include "Writer.h"
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index 552b5fc1a9427357ee9b971115fc49dda89d3745..58f5bcc32879429b5f3b09b405dbc73aab8a3ac6 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -39,33 +39,112 @@ namespace armarx::aron::typeIO
class WriterInterface
{
public:
- virtual void writeStartObject(const std::string&) = 0;
+ struct WriteStartObjectInput
+ {
+ std::string name;
+ bool is_optional;
+ };
+ virtual void writeStartObject(const WriteStartObjectInput&) = 0;
virtual void writeEndObject() = 0;
- virtual void writeStartList() = 0;
+
+ struct WriteStartListInput
+ {
+ bool is_optional;
+ };
+ virtual void writeStartList(const WriteStartListInput&) = 0;
virtual void writeEndList() = 0;
- virtual void writeStartDict() = 0;
+
+ struct WriteStartDictInput
+ {
+ bool is_optional;
+ };
+ virtual void writeStartDict(const WriteStartDictInput&) = 0;
virtual void writeEndDict() = 0;
- virtual void writeStartTuple() = 0;
+
+ struct WriteStartTupleInput
+ {
+ bool is_optional;
+ };
+ virtual void writeStartTuple(const WriteStartTupleInput&) = 0;
virtual void writeEndTuple() = 0;
- virtual void writeStartPair() = 0;
+
+ struct WriteStartPairInput
+ {
+ bool is_optional;
+ };
+ virtual void writeStartPair(const WriteStartPairInput&) = 0;
virtual void writeEndPair() = 0;
- virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) = 0;
- virtual void writeEigenQuaternion(const std::string&) = 0;
- virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) = 0;
- virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) = 0;
- virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) = 0;
- virtual void writePosition() = 0;
- virtual void writeOrientation() = 0;
- virtual void writePose() = 0;
-
- virtual void writeInt() = 0;
- virtual void writeLong() = 0;
- virtual void writeFloat() = 0;
- virtual void writeDouble() = 0;
- virtual void writeString() = 0;
- virtual void writeBool() = 0;
- virtual void writeTime() = 0;
+ struct WriteEigenMatrixInput
+ {
+ std::vector<int> dimensions;
+ std::string type;
+ bool is_optional;
+ };
+ virtual void writeEigenMatrix(const WriteEigenMatrixInput&) = 0;
+
+ struct WriteEigenQuaternionInput
+ {
+ std::string type;
+ bool is_optional;
+ };
+ virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) = 0;
+
+ struct WriteIVTCByteImageInput
+ {
+ unsigned int width;
+ unsigned int height;
+ std::string type;
+ bool is_optional;
+ };
+ virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) = 0;
+
+ struct WriteOpenCVMatInput
+ {
+ std::vector<int> dimensions;
+ std::string type;
+ bool is_optional;
+ };
+ virtual void writeOpenCVMat(const WriteOpenCVMatInput&) = 0;
+
+ struct WritePCLPointCloudInput
+ {
+ unsigned int width;
+ unsigned int height;
+ std::string type;
+ bool is_optional;
+ };
+ virtual void writePCLPointCloud(const WritePCLPointCloudInput&) = 0;
+
+ struct WritePositionInput
+ {
+ bool is_optional;
+ };
+ virtual void writePosition(const WritePositionInput&) = 0;
+
+ struct WriteOrientationInput
+ {
+ bool is_optional;
+ };
+ virtual void writeOrientation(const WriteOrientationInput&) = 0;
+
+ struct WritePoseInput
+ {
+ bool is_optional;
+ };
+ virtual void writePose(const WritePoseInput&) = 0;
+
+ struct WritePrimitiveInput
+ {
+ bool is_optional;
+ };
+ virtual void writeInt(const WritePrimitiveInput&) = 0;
+ virtual void writeLong(const WritePrimitiveInput&) = 0;
+ virtual void writeFloat(const WritePrimitiveInput&) = 0;
+ virtual void writeDouble(const WritePrimitiveInput&) = 0;
+ virtual void writeString(const WritePrimitiveInput&) = 0;
+ virtual void writeBool(const WritePrimitiveInput&) = 0;
+ virtual void writeTime(const WritePrimitiveInput&) = 0;
virtual void writeKey(const std::string&) = 0;
};
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
index 48decff3a1763338b8d2de06c217bfa38b60cf86..9750bfc932d5e6dff03c78b18755c3c5961b2111 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
@@ -34,10 +34,10 @@ namespace armarx::aron::typeIO
{
case type::Descriptor::eObject:
{
- const auto [name, elements] = reader.readStartObject();
- writer.writeStartObject(name);
+ const auto readStartObject = reader.readStartObject();
+ writer.writeStartObject({readStartObject.name, readStartObject.is_optional});
- for (int i = 0; i < elements; ++i)
+ for (unsigned int i = 0; i < readStartObject.elements; ++i)
{
std::string key = reader.readKey();
writer.writeKey(key);
@@ -50,8 +50,8 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eDict:
{
- reader.readStartDict();
- writer.writeStartDict();
+ const auto readStartDict = reader.readStartDict();
+ writer.writeStartDict({readStartDict.is_optional});
Converter::ReadAndConvert(reader, writer);
@@ -61,10 +61,10 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eTuple:
{
- int elements = reader.readStartTuple();
- writer.writeStartTuple();
+ const auto readStartTuple = reader.readStartTuple();
+ writer.writeStartTuple({readStartTuple.is_optional});
- for (int i = 0; i < elements; ++i)
+ for (unsigned int i = 0; i < readStartTuple.elements; ++i)
{
Converter::ReadAndConvert(reader, writer);
}
@@ -75,8 +75,8 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eList:
{
- reader.readStartList();
- writer.writeStartList();
+ const auto readStartList = reader.readStartList();
+ writer.writeStartList({readStartList.is_optional});
Converter::ReadAndConvert(reader, writer);
@@ -86,92 +86,92 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eEigenMatrix:
{
- auto x = reader.readEigenMatrix();
- writer.writeEigenMatrix(std::get<0>(x), std::get<1>(x));
+ const auto readEigenMatrix = reader.readEigenMatrix();
+ writer.writeEigenMatrix({readEigenMatrix.dimensions, readEigenMatrix.type, readEigenMatrix.is_optional});
break;
}
case type::Descriptor::eEigenQuaternion:
{
- auto x = reader.readEigenQuaternion();
- writer.writeEigenQuaternion(x);
+ const auto readEigenQuaternion = reader.readEigenQuaternion();
+ writer.writeEigenQuaternion({readEigenQuaternion.type, readEigenQuaternion.is_optional});
break;
}
case type::Descriptor::eIVTCByteImage:
{
- auto x = reader.readIVTCByteImage();
- writer.writeIVTCByteImage(std::get<0>(x), std::get<1>(x), std::get<2>(x));
+ const auto readIVTCByteImage = reader.readIVTCByteImage();
+ writer.writeIVTCByteImage({readIVTCByteImage.width, readIVTCByteImage.height, readIVTCByteImage.type, readIVTCByteImage.is_optional});
break;
}
case type::Descriptor::eOpenCVMat:
{
- auto x = reader.readOpenCVMat();
- writer.writeOpenCVMat(std::get<0>(x), std::get<1>(x));
+ const auto readOpenCVMat = reader.readOpenCVMat();
+ writer.writeOpenCVMat({readOpenCVMat.dimensions, readOpenCVMat.type, readOpenCVMat.is_optional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
- auto x = reader.readPCLPointCloud();
- writer.writePCLPointCloud(std::get<0>(x), std::get<1>(x), std::get<2>(x));
+ const auto readPCLPointCloud = reader.readPCLPointCloud();
+ writer.writePCLPointCloud({readPCLPointCloud.width, readPCLPointCloud.height, readPCLPointCloud.type, readPCLPointCloud.is_optional});
break;
}
case type::Descriptor::ePosition:
{
- reader.readPosition();
- writer.writePosition();
+ const auto readPosition = reader.readPosition();
+ writer.writePosition({readPosition.is_optional});
break;
}
case type::Descriptor::eOrientation:
{
- reader.readOrientation();
- writer.writeOrientation();
+ const auto readOrientation = reader.readOrientation();
+ writer.writeOrientation({readOrientation.is_optional});
break;
}
case type::Descriptor::ePose:
{
- reader.readPose();
- writer.writePose();
+ const auto readPose = reader.readPose();
+ writer.writePose({readPose.is_optional});
break;
}
case type::Descriptor::eInt:
{
- reader.readInt();
- writer.writeInt();
+ const auto readInt = reader.readInt();
+ writer.writeInt({readInt.is_optional});
break;
}
case type::Descriptor::eLong:
{
- reader.readLong();
- writer.writeLong();
+ const auto readLong = reader.readLong();
+ writer.writeLong({readLong.is_optional});
break;
}
case type::Descriptor::eFloat:
{
- reader.readFloat();
- writer.writeFloat();
+ const auto readFloat = reader.readFloat();
+ writer.writeFloat({readFloat.is_optional});
break;
}
case type::Descriptor::eDouble:
{
- reader.readDouble();
- writer.writeDouble();
+ const auto readDouble = reader.readDouble();
+ writer.writeDouble({readDouble.is_optional});
break;
}
case type::Descriptor::eString:
{
- reader.readString();
- writer.writeString();
+ const auto readString = reader.readString();
+ writer.writeString({readString.is_optional});
break;
}
case type::Descriptor::eBool:
{
- reader.readBool();
- writer.writeBool();
+ const auto readBool = reader.readBool();
+ writer.writeBool({readBool.is_optional});
break;
}
case type::Descriptor::eTime:
{
- reader.readTime();
- writer.writeTime();
+ const auto readTime = reader.readTime();
+ writer.writeTime({readTime.is_optional});
break;
}
default:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
index 0effe2a60983b988abd7c3e8ae8191f69e30ee0d..d31e4fca736084aeb7ac92024f5202a760cbd95b 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
@@ -31,7 +31,6 @@
#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h>
-
namespace armarx::aron::typeIO::reader
{
NavigatorReader::NavigatorReader(const typenavigator::NavigatorPtr& n) :
@@ -55,13 +54,13 @@ namespace armarx::aron::typeIO::reader
return lastToken->getNextElementAndIncreaseCnt();
}
- std::tuple<std::string, int> NavigatorReader::readStartObject()
+ ReaderInterface::ReadStartObjectReturnType NavigatorReader::readStartObject()
{
auto current_nav = getNextAndIncrease();
auto current_nav_casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(current_nav);
auto newToken = std::make_shared<NavigatorReaderToken>(type::Descriptor::eObject, current_nav_casted);
stack.push(newToken);
- return {newToken->getElementName(), newToken->getElementChildrenSize()};
+ return {newToken->getElementName(), newToken->getElementChildrenSize(), current_nav_casted->isOptional()};
}
bool NavigatorReader::readEndObject()
@@ -77,13 +76,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NavigatorReader::readStartDict()
+ ReaderInterface::ReadStartDictReturnType NavigatorReader::readStartDict()
{
auto current_nav = getNextAndIncrease();
auto current_nav_casted = typenavigator::DictNavigator::DynamicCastAndCheck(current_nav);
auto newToken = std::make_shared<NavigatorReaderToken>(type::Descriptor::eDict, current_nav_casted);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ return {newToken->getElementChildrenSize(), current_nav_casted->isOptional()};
}
bool NavigatorReader::readEndDict()
@@ -99,13 +98,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NavigatorReader::readStartList()
+ ReaderInterface::ReadStartListReturnType NavigatorReader::readStartList()
{
auto current_nav = getNextAndIncrease();
auto current_nav_casted = typenavigator::ListNavigator::DynamicCastAndCheck(current_nav);
auto newToken = std::make_shared<NavigatorReaderToken>(type::Descriptor::eList, current_nav_casted);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ return {newToken->getElementChildrenSize(), current_nav_casted->isOptional()};
}
bool NavigatorReader::readEndList()
@@ -121,13 +120,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NavigatorReader::readStartTuple()
+ ReaderInterface::ReadStartTupleReturnType NavigatorReader::readStartTuple()
{
auto current_nav = getNextAndIncrease();
auto current_nav_casted = typenavigator::TupleNavigator::DynamicCastAndCheck(current_nav);
auto newToken = std::make_shared<NavigatorReaderToken>(type::Descriptor::eTuple, current_nav_casted);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ return {newToken->getElementChildrenSize(), current_nav_casted->isOptional()};
}
bool NavigatorReader::readEndTuple()
@@ -143,13 +142,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NavigatorReader::readStartPair()
+ ReaderInterface::ReadStartPairReturnType NavigatorReader::readStartPair()
{
auto current_nav = getNextAndIncrease();
auto current_nav_casted = typenavigator::PairNavigator::DynamicCastAndCheck(current_nav);
auto newToken = std::make_shared<NavigatorReaderToken>(type::Descriptor::ePair, current_nav_casted);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ return {newToken->getElementChildrenSize(), current_nav_casted->isOptional()};
}
bool NavigatorReader::readEndPair()
@@ -165,100 +164,110 @@ namespace armarx::aron::typeIO::reader
return false;
}
- std::tuple<std::vector<int>, std::string> NavigatorReader::readEigenMatrix()
+ ReaderInterface::ReadEigenMatrixReturnType NavigatorReader::readEigenMatrix()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
- return std::make_tuple(casted->getDimensions(), casted->getTypename());
+ return {casted->getDimensions(), casted->getTypename(), casted->isOptional()};
}
- std::string NavigatorReader::readEigenQuaternion()
+ ReaderInterface::ReadEigenQuaternionReturnType NavigatorReader::readEigenQuaternion()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
- return casted->getTypename();
+ return {casted->getTypename(), casted->isOptional()};
}
- std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readIVTCByteImage()
+ ReaderInterface::ReadIVTCbyteImageReturnType NavigatorReader::readIVTCByteImage()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::IVTCByteImageNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
+ return {casted->getWidth(), casted->getHeight(), casted->getTypename(), casted->isOptional()};
}
- std::tuple<std::vector<int>, std::string> NavigatorReader::readOpenCVMat()
+ ReaderInterface::ReadOpenCVMatReturnType NavigatorReader::readOpenCVMat()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::OpenCVMatNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getDimensions(), casted->getTypename());
+ return {casted->getDimensions(), casted->getTypename(), casted->isOptional()};
}
- std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readPCLPointCloud()
+ ReaderInterface::ReadPCLPointCloudReturnType NavigatorReader::readPCLPointCloud()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::PCLPointCloudNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
+ return {casted->getWidth(), casted->getHeight(), casted->getTypename(), casted->isOptional()};
}
- void NavigatorReader::readPosition()
+ ReaderInterface::ReadPositionReturnType NavigatorReader::readPosition()
{
auto nav = getNextAndIncrease();
- typenavigator::PositionNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::PositionNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readOrientation()
+ ReaderInterface::ReadOrientationReturnType NavigatorReader::readOrientation()
{
auto nav = getNextAndIncrease();
- typenavigator::OrientationNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::OrientationNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readPose()
+ ReaderInterface::ReadPoseReturnType NavigatorReader::readPose()
{
auto nav = getNextAndIncrease();
- typenavigator::PoseNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::PoseNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
// Read primitives
- void NavigatorReader::readInt()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readInt()
{
auto nav = getNextAndIncrease();
- typenavigator::IntNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::IntNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readFloat()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readFloat()
{
auto nav = getNextAndIncrease();
- typenavigator::FloatNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::FloatNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readLong()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readLong()
{
auto nav = getNextAndIncrease();
- typenavigator::LongNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::LongNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readDouble()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readDouble()
{
auto nav = getNextAndIncrease();
- typenavigator::DoubleNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::DoubleNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readString()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readString()
{
auto nav = getNextAndIncrease();
- typenavigator::StringNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::StringNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readBool()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readBool()
{
auto nav = getNextAndIncrease();
- typenavigator::BoolNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::BoolNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
- void NavigatorReader::readTime()
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readTime()
{
auto nav = getNextAndIncrease();
- typenavigator::TimeNavigator::DynamicCastAndCheck(nav);
+ auto casted = typenavigator::TimeNavigator::DynamicCastAndCheck(nav);
+ return {casted->isOptional()};
}
std::string NavigatorReader::readKey()
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
index 0b733ce7cb7bafc9965a6a08c649271c35079028..d85113eb9349b3f7ef65facb324a71f76a04419b 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
@@ -49,34 +49,33 @@ namespace armarx::aron::typeIO::reader
NavigatorReader(const typenavigator::NavigatorPtr& n);
NavigatorReader(const type::AronTypePtr& n);
-
- virtual std::tuple<std::string, int> readStartObject() override;
+ virtual ReadStartObjectReturnType readStartObject() override;
virtual bool readEndObject() override;
- virtual int readStartList() override;
+ virtual ReadStartListReturnType readStartList() override;
virtual bool readEndList() override;
- virtual int readStartDict() override;
+ virtual ReadStartDictReturnType readStartDict() override;
virtual bool readEndDict() override;
- virtual int readStartTuple() override;
+ virtual ReadStartTupleReturnType readStartTuple() override;
virtual bool readEndTuple() override;
- virtual int readStartPair() override;
+ virtual ReadStartPairReturnType readStartPair() override;
virtual bool readEndPair() override;
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() override;
- virtual std::string readEigenQuaternion() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() override;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() override;
- virtual void readPosition() override;
- virtual void readOrientation() override;
- virtual void readPose() override;
-
- virtual void readInt() override;
- virtual void readLong() override;
- virtual void readFloat() override;
- virtual void readDouble() override;
- virtual void readString() override;
- virtual void readBool() override;
- virtual void readTime() override;
+ virtual ReadEigenMatrixReturnType readEigenMatrix() override;
+ virtual ReadEigenQuaternionReturnType readEigenQuaternion() override;
+ virtual ReadIVTCbyteImageReturnType readIVTCByteImage() override;
+ virtual ReadOpenCVMatReturnType readOpenCVMat() override;
+ virtual ReadPCLPointCloudReturnType readPCLPointCloud() override;
+ virtual ReadPositionReturnType readPosition() override;
+ virtual ReadOrientationReturnType readOrientation() override;
+ virtual ReadPoseReturnType readPose() override;
+
+ virtual ReadPrimitiveReturnType readInt() override;
+ virtual ReadPrimitiveReturnType readLong() override;
+ virtual ReadPrimitiveReturnType readFloat() override;
+ virtual ReadPrimitiveReturnType readDouble() override;
+ virtual ReadPrimitiveReturnType readString() override;
+ virtual ReadPrimitiveReturnType readBool() override;
+ virtual ReadPrimitiveReturnType readTime() override;
virtual std::string readKey() override;
virtual void loadMember(const std::string&) override;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 98d6953ade3f36ca2408dc379a3b325e8fd007de..175918c8269f936596e6283711e12e3ac0e3eaf5 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -55,12 +55,13 @@ namespace armarx::aron::typeIO::reader
return lastToken->getNextElementAndIncreaseCnt();
}
- std::tuple<std::string, int> NlohmannJSONReader::readStartObject()
+ ReaderInterface::ReadStartObjectReturnType NlohmannJSONReader::readStartObject()
{
nlohmann::json current_json = getNextAndIncrease();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::Descriptor::eObject, current_json);
stack.push(newToken);
- return {newToken->getElementName(), newToken->getElementChildrenSize()};
+ bool o = current_json[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {newToken->getElementName(), newToken->getElementChildrenSize(), o};
}
bool NlohmannJSONReader::readEndObject()
@@ -76,12 +77,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NlohmannJSONReader::readStartDict()
+ ReaderInterface::ReadStartDictReturnType NlohmannJSONReader::readStartDict()
{
nlohmann::json current_json = getNextAndIncrease();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::Descriptor::eDict, current_json);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ bool o = current_json[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {newToken->getElementChildrenSize(), o};
}
bool NlohmannJSONReader::readEndDict()
@@ -97,12 +99,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NlohmannJSONReader::readStartList()
+ ReaderInterface::ReadStartListReturnType NlohmannJSONReader::readStartList()
{
nlohmann::json current_json = getNextAndIncrease();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::Descriptor::eList, current_json);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ bool o = current_json[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {newToken->getElementChildrenSize(), o};
}
bool NlohmannJSONReader::readEndList()
@@ -118,12 +121,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NlohmannJSONReader::readStartTuple()
+ ReaderInterface::ReadStartTupleReturnType NlohmannJSONReader::readStartTuple()
{
nlohmann::json current_json = getNextAndIncrease();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::Descriptor::eTuple, current_json);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ bool o = current_json[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {newToken->getElementChildrenSize(), o};
}
bool NlohmannJSONReader::readEndTuple()
@@ -139,12 +143,13 @@ namespace armarx::aron::typeIO::reader
return false;
}
- int NlohmannJSONReader::readStartPair()
+ ReaderInterface::ReadStartPairReturnType NlohmannJSONReader::readStartPair()
{
nlohmann::json current_json = getNextAndIncrease();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::Descriptor::ePair, current_json);
stack.push(newToken);
- return newToken->getElementChildrenSize();
+ bool o = current_json[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {newToken->getElementChildrenSize(), o};
}
bool NlohmannJSONReader::readEndPair()
@@ -160,97 +165,119 @@ namespace armarx::aron::typeIO::reader
return false;
}
- std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readEigenMatrix()
+ ReaderInterface::ReadEigenMatrixReturnType NlohmannJSONReader::readEigenMatrix()
{
nlohmann::json j = getNextAndIncrease();
std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims, type);
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {dims, type, o};
}
- std::string NlohmannJSONReader::readEigenQuaternion()
+ ReaderInterface::ReadEigenQuaternionReturnType NlohmannJSONReader::readEigenQuaternion()
{
nlohmann::json j = getNextAndIncrease();
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return type;
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {type, o};
}
- std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readIVTCByteImage()
+ ReaderInterface::ReadIVTCbyteImageReturnType NlohmannJSONReader::readIVTCByteImage()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::vector<unsigned int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims[0], dims[1], type);
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {dims[0], dims[1], type, o};
}
- std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readOpenCVMat()
+ ReaderInterface::ReadOpenCVMatReturnType NlohmannJSONReader::readOpenCVMat()
{
nlohmann::json j = getNextAndIncrease();
std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims, type);
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {dims, type, o};
}
- std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readPCLPointCloud()
+ ReaderInterface::ReadPCLPointCloudReturnType NlohmannJSONReader::readPCLPointCloud()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::vector<unsigned int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims[0], dims[1], type);
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {dims[0], dims[1], type, o};
}
- void NlohmannJSONReader::readPosition()
+ ReaderInterface::ReadPositionReturnType NlohmannJSONReader::readPosition()
{
- getNextAndIncrease();
- return;
+ nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readOrientation()
+ ReaderInterface::ReadOrientationReturnType NlohmannJSONReader::readOrientation()
{
- getNextAndIncrease();
- return;
+ nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readPose()
+ ReaderInterface::ReadPoseReturnType NlohmannJSONReader::readPose()
{
- getNextAndIncrease();
- return;
+ nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
// Read primitives
- void NlohmannJSONReader::readInt()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readInt()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readLong()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readLong()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readFloat()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readFloat()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readDouble()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readDouble()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readString()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readString()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readBool()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readBool()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
- void NlohmannJSONReader::readTime()
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readTime()
{
nlohmann::json j = getNextAndIncrease();
+ bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
+ return {o};
}
std::string NlohmannJSONReader::readKey()
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
index 70efcc50ec54620533272f9493aa77c17701fa41..78caf17db08697fd0e2f47113dd7142df9a6de8b 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -47,33 +47,33 @@ namespace armarx::aron::typeIO::reader
NlohmannJSONReader(const nlohmann::json& n);
NlohmannJSONReader(const std::string& n);
- virtual std::tuple<std::string, int> readStartObject() override;
+ virtual ReadStartObjectReturnType readStartObject() override;
virtual bool readEndObject() override;
- virtual int readStartList() override;
+ virtual ReadStartListReturnType readStartList() override;
virtual bool readEndList() override;
- virtual int readStartDict() override;
+ virtual ReadStartDictReturnType readStartDict() override;
virtual bool readEndDict() override;
- virtual int readStartTuple() override;
+ virtual ReadStartTupleReturnType readStartTuple() override;
virtual bool readEndTuple() override;
- virtual int readStartPair() override;
+ virtual ReadStartPairReturnType readStartPair() override;
virtual bool readEndPair() override;
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() override;
- virtual std::string readEigenQuaternion() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() override;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() override;
- virtual void readPosition() override;
- virtual void readOrientation() override;
- virtual void readPose() override;
+ virtual ReadEigenMatrixReturnType readEigenMatrix() override;
+ virtual ReadEigenQuaternionReturnType readEigenQuaternion() override;
+ virtual ReadIVTCbyteImageReturnType readIVTCByteImage() override;
+ virtual ReadOpenCVMatReturnType readOpenCVMat() override;
+ virtual ReadPCLPointCloudReturnType readPCLPointCloud() override;
+ virtual ReadPositionReturnType readPosition() override;
+ virtual ReadOrientationReturnType readOrientation() override;
+ virtual ReadPoseReturnType readPose() override;
- virtual void readInt() override;
- virtual void readLong() override;
- virtual void readFloat() override;
- virtual void readDouble() override;
- virtual void readString() override;
- virtual void readBool() override;
- virtual void readTime() override;
+ virtual ReadPrimitiveReturnType readInt() override;
+ virtual ReadPrimitiveReturnType readLong() override;
+ virtual ReadPrimitiveReturnType readFloat() override;
+ virtual ReadPrimitiveReturnType readDouble() override;
+ virtual ReadPrimitiveReturnType readString() override;
+ virtual ReadPrimitiveReturnType readBool() override;
+ virtual ReadPrimitiveReturnType readTime() override;
virtual std::string readKey() override;
virtual void loadMember(const std::string&) override;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
index 1b0bb02c4ea191472b8a5502ade389fefcc30028..a18cc2daa60c62001b47a79788fb7c083ac8e235 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
@@ -45,8 +45,8 @@ namespace armarx::aron::typeIO
{
case type::Descriptor::eObject:
{
- type::AronObjectPtr casted = type::AronObjectPtr::dynamicCast(aron);
- writer.writeStartObject(casted->objectName);
+ auto casted = type::AronObjectPtr::dynamicCast(aron);
+ writer.writeStartObject({casted->objectName, casted->is_optional});
for (const auto& [key, value] : casted->elementTypes)
{
writer.writeKey(key);
@@ -57,16 +57,16 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eDict:
{
- type::AronDictPtr casted = type::AronDictPtr::dynamicCast(aron);
- writer.writeStartDict();
+ auto casted = type::AronDictPtr::dynamicCast(aron);
+ writer.writeStartDict({casted->is_optional});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndDict();
break;
}
case type::Descriptor::eTuple:
{
- type::AronTuplePtr casted = type::AronTuplePtr::dynamicCast(aron);
- writer.writeStartTuple();
+ auto casted = type::AronTuplePtr::dynamicCast(aron);
+ writer.writeStartTuple({casted->is_optional});
for (const auto& value : casted->elementTypes)
{
Visitor::VisitAndSetup(writer, value);
@@ -76,97 +76,100 @@ namespace armarx::aron::typeIO
}
case type::Descriptor::eList:
{
- type::AronListPtr casted = type::AronListPtr::dynamicCast(aron);
- writer.writeStartList();
+ auto casted = type::AronListPtr::dynamicCast(aron);
+ writer.writeStartList({casted->is_optional});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndList();
break;
}
case type::Descriptor::eEigenMatrix:
{
- type::AronEigenMatrixPtr casted = type::AronEigenMatrixPtr::dynamicCast(aron);
- writer.writeEigenMatrix(casted->dimensions, casted->typeName);
+ auto casted = type::AronEigenMatrixPtr::dynamicCast(aron);
+ writer.writeEigenMatrix({casted->dimensions, casted->typeName, casted->is_optional});
break;
}
case type::Descriptor::eEigenQuaternion:
{
- type::AronEigenQuaternionPtr casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
- writer.writeEigenQuaternion(casted->typeName);
+ auto casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
+ writer.writeEigenQuaternion({casted->typeName, casted->is_optional});
break;
}
case type::Descriptor::eIVTCByteImage:
{
- type::AronIVTCByteImagePtr casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
- writer.writeIVTCByteImage(casted->width, casted->height, casted->typeName);
+ auto casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
+ writer.writeIVTCByteImage({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->is_optional});
break;
}
case type::Descriptor::eOpenCVMat:
{
- type::AronOpenCVMatPtr casted = type::AronOpenCVMatPtr::dynamicCast(aron);
- writer.writeOpenCVMat(casted->dimensions, casted->typeName);
+ auto casted = type::AronOpenCVMatPtr::dynamicCast(aron);
+ writer.writeOpenCVMat({casted->dimensions, casted->typeName, casted->is_optional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
- type::AronPCLPointCloudPtr casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
- writer.writePCLPointCloud(casted->width, casted->height, casted->typeName);
+ auto casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
+ writer.writePCLPointCloud({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->is_optional});
break;
}
case type::Descriptor::ePosition:
{
- writer.writePosition();
+ auto casted = type::AronPositionPtr::dynamicCast(aron);
+ writer.writePosition({casted->is_optional});
break;
}
case type::Descriptor::eOrientation:
{
- writer.writeOrientation();
+ auto casted = type::AronOrientationPtr::dynamicCast(aron);
+ writer.writeOrientation({casted->is_optional});
break;
}
case type::Descriptor::ePose:
{
- writer.writePose();
+ auto casted = type::AronPosePtr::dynamicCast(aron);
+ writer.writePose({casted->is_optional});
break;
}
case type::Descriptor::eInt:
{
- type::AronIntPtr casted = type::AronIntPtr::dynamicCast(aron);
- writer.writeInt();
+ auto casted = type::AronIntPtr::dynamicCast(aron);
+ writer.writeInt({casted->is_optional});
break;
}
case type::Descriptor::eLong:
{
- type::AronLongPtr casted = type::AronLongPtr::dynamicCast(aron);
- writer.writeLong();
+ auto casted = type::AronLongPtr::dynamicCast(aron);
+ writer.writeLong({casted->is_optional});
break;
}
case type::Descriptor::eFloat:
{
- type::AronFloatPtr casted = type::AronFloatPtr::dynamicCast(aron);
- writer.writeFloat();
+ auto casted = type::AronFloatPtr::dynamicCast(aron);
+ writer.writeFloat({casted->is_optional});
break;
}
case type::Descriptor::eDouble:
{
- type::AronDoublePtr casted = type::AronDoublePtr::dynamicCast(aron);
- writer.writeDouble();
+ auto casted = type::AronDoublePtr::dynamicCast(aron);
+ writer.writeDouble({casted->is_optional});
break;
}
case type::Descriptor::eString:
{
- type::AronStringPtr casted = type::AronStringPtr::dynamicCast(aron);
- writer.writeString();
+ auto casted = type::AronStringPtr::dynamicCast(aron);
+ writer.writeString({casted->is_optional});
break;
}
case type::Descriptor::eBool:
{
- type::AronBoolPtr casted = type::AronBoolPtr::dynamicCast(aron);
- writer.writeBool();
+ auto casted = type::AronBoolPtr::dynamicCast(aron);
+ writer.writeBool({casted->is_optional});
break;
}
case type::Descriptor::eTime:
{
- type::AronTimePtr casted = type::AronTimePtr::dynamicCast(aron);
- writer.writeTime();
+ auto casted = type::AronTimePtr::dynamicCast(aron);
+ writer.writeTime({casted->is_optional});
break;
}
default:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index 06e8c00764ed0c3c446c7fdb2b1448a780d085cb..e50169c741cee087ca3960862a6a3a9fe4586a80 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -53,11 +53,12 @@ namespace armarx::aron::typeIO::writer
}
// interface
- void NavigatorWriter::writeStartObject(const std::string& n)
+ void NavigatorWriter::writeStartObject(const WriteStartObjectInput& o)
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::ObjectNavigator>(path);
- type->setObjectName(n);
+ type->setObjectName(o.name);
+ type->setOptional(o.is_optional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -74,10 +75,11 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeStartDict()
+ void NavigatorWriter::writeStartDict(const WriteStartDictInput& o)
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::DictNavigator>(path);
+ type->setOptional(o.is_optional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -94,10 +96,11 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeStartList()
+ void NavigatorWriter::writeStartList(const WriteStartListInput& o)
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::ListNavigator>(path);
+ type->setOptional(o.is_optional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -114,10 +117,11 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeStartTuple()
+ void NavigatorWriter::writeStartTuple(const WriteStartTupleInput& o)
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::TupleNavigator>(path);
+ type->setOptional(o.is_optional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -134,10 +138,11 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeStartPair()
+ void NavigatorWriter::writeStartPair(const WriteStartPairInput& o)
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::PairNavigator>(path);
+ type->setOptional(o.is_optional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -154,134 +159,149 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
+ void NavigatorWriter::writeEigenMatrix(const WriteEigenMatrixInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::EigenMatrixNavigatorPtr aron(new typenavigator::EigenMatrixNavigator(path));
- aron->setTypename(t);
- aron->setDimensions(dims);
+ aron->setTypename(o.type);
+ aron->setDimensions(o.dimensions);
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeEigenQuaternion(const std::string& t)
+ void NavigatorWriter::writeEigenQuaternion(const WriteEigenQuaternionInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::EigenQuaternionNavigatorPtr aron(new typenavigator::EigenQuaternionNavigator(path));
- aron->setTypename(t);
+ aron->setTypename(o.type);
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
+ void NavigatorWriter::writeIVTCByteImage(const WriteIVTCByteImageInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::IVTCByteImageNavigatorPtr aron(new typenavigator::IVTCByteImageNavigator(path));
- aron->setTypename(t);
- aron->setWidth(w);
- aron->setHeight(h);
+ aron->setTypename(o.type);
+ aron->setWidth(o.width);
+ aron->setHeight(o.height);
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
+ void NavigatorWriter::writeOpenCVMat(const WriteOpenCVMatInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::OpenCVMatNavigatorPtr aron(new typenavigator::OpenCVMatNavigator(path));
- aron->setTypename(t);
- aron->setDimensions(dims);
+ aron->setTypename(o.type);
+ aron->setDimensions(o.dimensions);
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
+ void NavigatorWriter::writePCLPointCloud(const WritePCLPointCloudInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PCLPointCloudNavigatorPtr aron(new typenavigator::PCLPointCloudNavigator(path));
- aron->setTypename(t);
- aron->setWidth(w);
- aron->setHeight(h);
+ aron->setTypename(o.type);
+ aron->setWidth(o.width);
+ aron->setHeight(o.height);
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writePosition()
+ void NavigatorWriter::writePosition(const WritePositionInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PositionNavigatorPtr aron(new typenavigator::PositionNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeOrientation()
+ void NavigatorWriter::writeOrientation(const WriteOrientationInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::OrientationNavigatorPtr aron(new typenavigator::OrientationNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writePose()
+ void NavigatorWriter::writePose(const WritePoseInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PoseNavigatorPtr aron(new typenavigator::PoseNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeInt()
+ void NavigatorWriter::writeInt(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::IntNavigatorPtr aron(new typenavigator::IntNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeLong()
+ void NavigatorWriter::writeLong(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::LongNavigatorPtr aron(new typenavigator::LongNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeFloat()
+ void NavigatorWriter::writeFloat(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::FloatNavigatorPtr aron(new typenavigator::FloatNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeDouble()
+ void NavigatorWriter::writeDouble(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::DoubleNavigatorPtr aron(new typenavigator::DoubleNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeString()
+ void NavigatorWriter::writeString(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::StringNavigatorPtr aron(new typenavigator::StringNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeBool()
+ void NavigatorWriter::writeBool(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::BoolNavigatorPtr aron(new typenavigator::BoolNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
- void NavigatorWriter::writeTime()
+ void NavigatorWriter::writeTime(const WritePrimitiveInput& o)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::TimeNavigatorPtr aron(new typenavigator::TimeNavigator(path));
+ aron->setOptional(o.is_optional);
token->addElement(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
index 00b7ed96e3789deb7f72a6f370b2a8fbb9371576..b15ab9e9b35fb140869017c2399f4e7345eda226 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
@@ -43,33 +43,33 @@ namespace armarx::aron::typeIO::writer
public:
NavigatorWriter() = default;
- virtual void writeStartObject(const std::string&) override;
+ virtual void writeStartObject(const WriteStartObjectInput&) override;
virtual void writeEndObject() override;
- virtual void writeStartList() override;
+ virtual void writeStartList(const WriteStartListInput&) override;
virtual void writeEndList() override;
- virtual void writeStartDict() override;
+ virtual void writeStartDict(const WriteStartDictInput&) override;
virtual void writeEndDict() override;
- virtual void writeStartTuple() override;
+ virtual void writeStartTuple(const WriteStartTupleInput&) override;
virtual void writeEndTuple() override;
- virtual void writeStartPair() override;
+ virtual void writeStartPair(const WriteStartPairInput&) override;
virtual void writeEndPair() override;
- virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) override;
- virtual void writeEigenQuaternion(const std::string&) override;
- virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
- virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) override;
- virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
- virtual void writePosition() override;
- virtual void writeOrientation() override;
- virtual void writePose() override;
+ virtual void writeEigenMatrix(const WriteEigenMatrixInput&) override;
+ virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) override;
+ virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) override;
+ virtual void writeOpenCVMat(const WriteOpenCVMatInput&) override;
+ virtual void writePCLPointCloud(const WritePCLPointCloudInput&) override;
+ virtual void writePosition(const WritePositionInput&) override;
+ virtual void writeOrientation(const WriteOrientationInput&) override;
+ virtual void writePose(const WritePoseInput&) override;
- virtual void writeInt() override;
- virtual void writeLong() override;
- virtual void writeFloat() override;
- virtual void writeDouble() override;
- virtual void writeString() override;
- virtual void writeBool() override;
- virtual void writeTime() override;
+ virtual void writeInt(const WritePrimitiveInput&) override;
+ virtual void writeLong(const WritePrimitiveInput&) override;
+ virtual void writeFloat(const WritePrimitiveInput&) override;
+ virtual void writeDouble(const WritePrimitiveInput&) override;
+ virtual void writeString(const WritePrimitiveInput&) override;
+ virtual void writeBool(const WritePrimitiveInput&) override;
+ virtual void writeTime(const WritePrimitiveInput&) override;
virtual void writeKey(const std::string&) override;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 0f3e96192baf5c2c5d088e0c3a5a2fb4e354d68d..af8b31837fb5bd5e8f6cbcc382c026a6dfe75a8a 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -26,10 +26,11 @@
namespace armarx::aron::typeIO::writer
{
- void NlohmannJSONWriter::writeStartObject(const std::string& n)
+ void NlohmannJSONWriter::writeStartObject(const WriteStartObjectInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_NAME_SLUG] = n;
+ data[io::Data::READER_WRITER_NAME_SLUG] = o.name;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eObject, data);
stack.push(new_token);
}
@@ -46,9 +47,10 @@ namespace armarx::aron::typeIO::writer
}
}
- void NlohmannJSONWriter::writeStartList()
+ void NlohmannJSONWriter::writeStartList(const WriteStartListInput& o)
{
nlohmann::json data;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
stack.push(new_token);
}
@@ -65,9 +67,10 @@ namespace armarx::aron::typeIO::writer
}
}
- void NlohmannJSONWriter::writeStartDict()
+ void NlohmannJSONWriter::writeStartDict(const WriteStartDictInput& o)
{
nlohmann::json data;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eDict, data);
stack.push(new_token);
}
@@ -84,9 +87,10 @@ namespace armarx::aron::typeIO::writer
}
}
- void NlohmannJSONWriter::writeStartTuple()
+ void NlohmannJSONWriter::writeStartTuple(const WriteStartTupleInput& o)
{
nlohmann::json data;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eTuple, data);
stack.push(new_token);
}
@@ -103,9 +107,10 @@ namespace armarx::aron::typeIO::writer
}
}
- void NlohmannJSONWriter::writeStartPair()
+ void NlohmannJSONWriter::writeStartPair(const WriteStartPairInput& o)
{
nlohmann::json data;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::ePair, data);
stack.push(new_token);
}
@@ -122,125 +127,147 @@ namespace armarx::aron::typeIO::writer
}
}
- void NlohmannJSONWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
+ void NlohmannJSONWriter::writeEigenMatrix(const WriteEigenMatrixInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenMatrix";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
- void NlohmannJSONWriter::writeEigenQuaternion(const std::string& t)
+ void NlohmannJSONWriter::writeEigenQuaternion(const WriteEigenQuaternionInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenQuaternion";
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
- void NlohmannJSONWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
+ void NlohmannJSONWriter::writeIVTCByteImage(const WriteIVTCByteImageInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "IVTCByteImage";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
- void NlohmannJSONWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
+ void NlohmannJSONWriter::writeOpenCVMat(const WriteOpenCVMatInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "OpenCVMat";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
- void NlohmannJSONWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
+ void NlohmannJSONWriter::writePCLPointCloud(const WritePCLPointCloudInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "PCLPointCloud";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
- void NlohmannJSONWriter::writePosition()
+ void NlohmannJSONWriter::writePosition(const WritePositionInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Position";
token->addElement(j);
}
- void NlohmannJSONWriter::writeOrientation()
+ void NlohmannJSONWriter::writeOrientation(const WriteOrientationInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Orientation";
token->addElement(j);
}
- void NlohmannJSONWriter::writePose()
+ void NlohmannJSONWriter::writePose(const WritePoseInput& o)
{
auto token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Pose";
token->addElement(j);
}
- void NlohmannJSONWriter::writeInt()
+ void NlohmannJSONWriter::writeInt(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_INT_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_INT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeLong()
+ void NlohmannJSONWriter::writeLong(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_LONG_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_LONG_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeFloat()
+ void NlohmannJSONWriter::writeFloat(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeDouble()
+ void NlohmannJSONWriter::writeDouble(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeString()
+ void NlohmannJSONWriter::writeString(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_STRING_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_STRING_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeBool()
+ void NlohmannJSONWriter::writeBool(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_BOOL_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_BOOL_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
- void NlohmannJSONWriter::writeTime()
+ void NlohmannJSONWriter::writeTime(const WritePrimitiveInput& o)
{
auto token = stack.top();
- nlohmann::json j(io::Data::READER_WRITER_TIME_TYPENAME_SLUG);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_TIME_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
token->addElement(j);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
index 7826f895e8e9fec9f3a98a12413ed1f39d12a9e9..3be0f4a1329aca74ad3c19710736a86f1c542582 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -40,33 +40,33 @@ namespace armarx::aron::typeIO::writer
public:
NlohmannJSONWriter() = default;
- virtual void writeStartObject(const std::string&) override;
+ virtual void writeStartObject(const WriteStartObjectInput&) override;
virtual void writeEndObject() override;
- virtual void writeStartList() override;
+ virtual void writeStartList(const WriteStartListInput&) override;
virtual void writeEndList() override;
- virtual void writeStartDict() override;
+ virtual void writeStartDict(const WriteStartDictInput&) override;
virtual void writeEndDict() override;
- virtual void writeStartTuple() override;
+ virtual void writeStartTuple(const WriteStartTupleInput&) override;
virtual void writeEndTuple() override;
- virtual void writeStartPair() override;
+ virtual void writeStartPair(const WriteStartPairInput&) override;
virtual void writeEndPair() override;
- virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) override;
- virtual void writeEigenQuaternion(const std::string&) override;
- virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
- virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) override;
- virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
- virtual void writePosition() override;
- virtual void writeOrientation() override;
- virtual void writePose() override;
+ virtual void writeEigenMatrix(const WriteEigenMatrixInput&) override;
+ virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) override;
+ virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) override;
+ virtual void writeOpenCVMat(const WriteOpenCVMatInput&) override;
+ virtual void writePCLPointCloud(const WritePCLPointCloudInput&) override;
+ virtual void writePosition(const WritePositionInput&) override;
+ virtual void writeOrientation(const WriteOrientationInput&) override;
+ virtual void writePose(const WritePoseInput&) override;
- virtual void writeInt() override;
- virtual void writeLong() override;
- virtual void writeFloat() override;
- virtual void writeDouble() override;
- virtual void writeString() override;
- virtual void writeBool() override;
- virtual void writeTime() override;
+ virtual void writeInt(const WritePrimitiveInput&) override;
+ virtual void writeLong(const WritePrimitiveInput&) override;
+ virtual void writeFloat(const WritePrimitiveInput&) override;
+ virtual void writeDouble(const WritePrimitiveInput&) override;
+ virtual void writeString(const WritePrimitiveInput&) override;
+ virtual void writeBool(const WritePrimitiveInput&) override;
+ virtual void writeTime(const WritePrimitiveInput&) override;
virtual void writeKey(const std::string&) override;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
index 6806d9dd41abe290d246d7a66a036f39a499461a..ed82f0a7e91aeae360ab7a644cb4349914ce0f77 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
@@ -29,6 +29,7 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h>
#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h>
#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h>
#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h>
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
index d1b5b03a26dd0ac3784223887c43fd54ecddcd7b..6e41b9cd9ba7bccf2ccf9e639f6b70d9009c017b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
@@ -5,6 +5,7 @@
#include "container/Object.h"
#include "container/Pair.h"
#include "container/Tuple.h"
+#include "ndarray/NDArray.h"
#include "ndarray/EigenMatrix.h"
#include "ndarray/EigenQuaternion.h"
#include "ndarray/IVTCByteImage.h"
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.cpp
index 1e38841d2647cd986a521ed2e92166dae7f1929e..d7912724580827c0ec5e31e33eabac74ee217265 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.cpp
@@ -62,79 +62,6 @@ namespace armarx::aron::typenavigator
throw error::AronException(c, m, "Could not cast an NavigatorPtr. The Ptr was NULL.", p);
}
}
-
- /* AronSingleAcceptedTypeHavingTypeNavigator */
- /*NavigatorPtr AronSingleAcceptedTypeHavingTypeNavigator::getAcceptedType() const
- {
- return acceptedTypeNavigator;
- }
-
- size_t AronSingleAcceptedTypeHavingTypeNavigator::childrenSize() const
- {
- return 1;
- }*/
-
- /* AronMultipleListAcceptedTypeHavingTypeNavigator */
- /*std::vector<NavigatorPtr> AronMultipleListAcceptedTypeHavingTypeNavigator::getAcceptedTypes() const
- {
- return acceptedTypeNavigators;
- }
-
- NavigatorPtr AronMultipleListAcceptedTypeHavingTypeNavigator::getAcceptedType(unsigned int i) const
- {
- if (i >= acceptedTypeNavigators.size())
- {
- return nullptr;
- }
- return acceptedTypeNavigators[i];
- }
-
- size_t AronMultipleListAcceptedTypeHavingTypeNavigator::childrenSize() const
- {
- return acceptedTypeNavigators.size();
- }*/
-
- /* AronMultipleDictAcceptedTypeHavingTypeNavigator */
- /*std::map<std::string, NavigatorPtr> AronMultipleDictAcceptedTypeHavingTypeNavigator::getAcceptedTypes() const
- {
- return acceptedTypeNavigators;
- }
-
- NavigatorPtr AronMultipleDictAcceptedTypeHavingTypeNavigator::getAcceptedType(const std::string& s) const
- {
- if (acceptedTypeNavigators.find(s) == acceptedTypeNavigators.end())
- {
- return nullptr;
- }
- return acceptedTypeNavigators.at(s);
- }
-
- size_t AronMultipleDictAcceptedTypeHavingTypeNavigator::childrenSize() const
- {
- return acceptedTypeNavigators.size();
- }
-
- std::vector<std::string> AronMultipleDictAcceptedTypeHavingTypeNavigator::getAllKeys() const
- {
- std::vector<std::string> ret;
- for (const auto& [key, _] : acceptedTypeNavigators)
- {
- ret.push_back(key);
- }
- return ret;
- }*/
-
- /* AronComplexTypeNavigator */
- /*size_t AronComplexTypeNavigator::childrenSize() const
- {
- return 0;
- }*/
-
- /* AronPrimitiveTypeNavigator */
- /*size_t AronPrimitiveTypeNavigator::childrenSize() const
- {
- return 0;
- }*/
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.h b/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.h
index 863cfac1ced3afc9ea8bc04730aac956c89786fb..b49f59f6ca412c58fa153cc592cb42a2f609b4fe 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/Navigator.h
@@ -62,6 +62,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override = 0;
virtual std::string getName() const override = 0;
+ virtual void setOptional(bool v) = 0;
+ virtual bool isOptional() const = 0;
+
// static methods
static NavigatorPtr FromAronType(const type::AronTypePtr&, const Path& = Path());
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
index fd14e22ead4f1610d4f4faf4d065396f850496bc..386b276aaeab310691ee1e27a2260dac90945c51 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
@@ -39,10 +39,9 @@ namespace armarx::aron::typenavigator
DictNavigator::DictNavigator(const type::AronDictPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
Navigator(type::Descriptor::eDict, path),
- type(o)
+ acceptedType(FromAronType(o->acceptedType)),
+ type(new type::AronDict(*o))
{
- CheckAronPtrForNull("DictNavigator", "DictNavigator", getPath(), o);
- acceptedType = FromAronType(o->acceptedType);
}
NavigatorPtr DictNavigator::getAcceptedType() const
@@ -97,5 +96,15 @@ namespace armarx::aron::typenavigator
{
return "AronDictType<" + acceptedType->getName() + ">";
}
+
+ void DictNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool DictNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.h
index 08ba52beda2b7070032647ba035b69db75e26f84..50e33e47dca591c82f42b4be82910f7740ba2140 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.h
@@ -56,10 +56,13 @@ namespace armarx::aron::typenavigator
static DictNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
// virtual implementations
- virtual std::vector<NavigatorPtr> getChildren() const override;
- virtual size_t childrenSize() const override;
- virtual type::AronTypePtr getResult() const override;
- virtual std::string getName() const override;
+ std::vector<NavigatorPtr> getChildren() const override;
+ size_t childrenSize() const override;
+ type::AronTypePtr getResult() const override;
+ std::string getName() const override;
+
+ void setOptional(bool v) override;
+ bool isOptional() const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
index 3e87c4d5fbbc7879299e9da5f20d7a2086d87465..690d50557f4df2dbfa6c97c91e961dc92dfed07b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
@@ -37,10 +37,9 @@ namespace armarx::aron::typenavigator
ListNavigator::ListNavigator(const type::AronListPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eList, path),
Navigator(type::Descriptor::eList, path),
- type(o)
+ acceptedType(FromAronType(o->acceptedType)),
+ type(new type::AronList(*o))
{
- CheckAronPtrForNull("ListNavigator", "ListNavigator", getPath(), o);
- acceptedType = FromAronType(o->acceptedType);
}
// Member functions
@@ -96,4 +95,14 @@ namespace armarx::aron::typenavigator
{
return "AronListType<" + acceptedType->getName() + ">";
}
+
+ void ListNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool ListNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.h
index 2dac8bebb527e77f3a9e6d039a08c72fa2486b53..17dc3decaee4bef9c50a017668123fb3833049ab 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.h
@@ -61,6 +61,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
private:
// members
NavigatorPtr acceptedType;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
index bc030f335ae8d67ecd9160e949a8943d99196e16..32e8b09e0305b4d41301bede53df11bfce1f99d3 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
@@ -50,10 +50,8 @@ namespace armarx::aron::typenavigator
ObjectNavigator::ObjectNavigator(const type::AronObjectPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eObject, path),
Navigator(type::Descriptor::eObject, path),
- type(o)
+ type(new type::AronObject(*o))
{
- CheckAronPtrForNull("ObjectNavigator", "ObjectNavigator", getPath(), o);
-
for (const auto& [key, t] : o->elementTypes)
{
memberTypes[key] = FromAronType(t);
@@ -180,5 +178,15 @@ namespace armarx::aron::typenavigator
{
return "AronObjectType<" + type->objectName + ">";
}
+
+ void ObjectNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool ObjectNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
index 47d5016284001fe61531544fc479051343b71cf1..b22989f526ffdfffc60e078ee0b85ca2b753ffa0 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
@@ -74,6 +74,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
private:
// members
ObjectNavigatorPtr extends;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
index 60e8947d4f9876b61c42add47979921e33395567..95c4edca4b2977aba42cfbc0d281e3e76f2e6758 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
@@ -39,12 +39,10 @@ namespace armarx::aron::typenavigator
PairNavigator::PairNavigator(const type::AronPairPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePair, path),
Navigator(type::Descriptor::ePair, path),
- type(o)
+ acceptedType1(FromAronType(o->acceptedType1)),
+ acceptedType2(FromAronType(o->acceptedType2)),
+ type(new type::AronPair(*o))
{
- CheckAronPtrForNull("AronPairTypeNavigator", "AronPairTypeNavigator", getPath(), o);
-
- acceptedType1 = FromAronType(o->acceptedType1);
- acceptedType2 = FromAronType(o->acceptedType2);
}
// Member functions
@@ -131,5 +129,15 @@ namespace armarx::aron::typenavigator
{
return "AronPairType<" + acceptedType1->getName() + ", " + acceptedType2->getName() + ">";
}
+
+ void PairNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool PairNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
index 999a6c85656aa3ee4b5adc353e3cdbc26d770ce5..85da737c93570912f4f427c9ff8e33df0615f779 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
@@ -65,6 +65,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
private:
// members
NavigatorPtr acceptedType1;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
index 14a94b890106d5daa688b4e120eff978b32199cc..cf76c0afaff2d7446ac7a16525563391f75e37cb 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
@@ -38,10 +38,8 @@ namespace armarx::aron::typenavigator
TupleNavigator::TupleNavigator(const type::AronTuplePtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eTuple, path),
Navigator(type::Descriptor::eTuple, path),
- type(o)
+ type(new type::AronTuple(*o))
{
- CheckAronPtrForNull("TupleNavigator", "TupleNavigator", getPath(), o);
-
for (const auto& t : type->elementTypes)
{
acceptedTypes.push_back(FromAronType(t));
@@ -114,5 +112,15 @@ namespace armarx::aron::typenavigator
}
return "AronTupleType<" + simox::alg::to_string(names, ", ") + ">";
}
+
+ void TupleNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool TupleNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h
index 83348835ca0535934989354a8d63e1dcdf5d83bf..11275bc0b7ceca9c2948a490f216e4812d1b04e2 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h
@@ -62,6 +62,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
private:
std::vector<NavigatorPtr> acceptedTypes;
type::AronTuplePtr type;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
index 682a177ea6ab823e7a1ee7b0a2372eb95054d837..26791f2d6e18fa7f2147e812eb692bb7f99586a7 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
@@ -37,9 +37,8 @@ namespace armarx::aron::typenavigator
IntEnumNavigator::IntEnumNavigator(const type::AronIntEnumPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIntEnum, path),
Navigator(type::Descriptor::eIntEnum, path),
- type(o)
+ type(new type::AronIntEnum(*o))
{
- CheckAronPtrForNull("AronEnumTypeNavigator", "AronEnumTypeNavigator", getPath(), o);
}
std::map<std::string, int> IntEnumNavigator::getAcceptedValues() const
@@ -118,5 +117,15 @@ namespace armarx::aron::typenavigator
{
return "AronIntEnumType";
}
+
+ void IntEnumNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool IntEnumNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h
index 9556a9d48ee6efb8ab74e37deb6493bbc8ae3ce0..f10ac7a31f9ac8f0476d96e845d02ce1ceb6777a 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h
@@ -67,6 +67,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
private:
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
index cb76098c35a99a7a1fd8a3dbea5fd396a4c5f475..064e71c778eb5945f8e24802fdf30c14f720b78b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
@@ -30,16 +30,18 @@ namespace armarx::aron::typenavigator
EigenMatrixNavigator::EigenMatrixNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenMatrix, path),
Navigator(type::Descriptor::eEigenMatrix, path),
- type(new type::AronEigenMatrix({1, 1}, ""))
+ type(new type::AronEigenMatrix(false,
+ {
+ 1, 1
+ }, ""))
{
}
EigenMatrixNavigator::EigenMatrixNavigator(const type::AronEigenMatrixPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
Navigator(type::Descriptor::eEigenMatrix, path),
- type(o)
+ type(new type::AronEigenMatrix(*o))
{
- CheckAronPtrForNull("AronEigenMatrixNavigator", "AronEigenMatrixNavigator", getPath(), o);
checkDimensions(type->dimensions);
checkTypename(type->typeName);
}
@@ -169,5 +171,15 @@ namespace armarx::aron::typenavigator
{
return "AronEigenMatrix<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
}
+
+ void EigenMatrixNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool EigenMatrixNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
index 0fb7d9a71bd21a96b024ee3eb5cec9f231216fd6..4cf1839f0c385a3cf60963cc97cf890aeae43c40 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
@@ -72,6 +72,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
index 7ec0c21dbccc35c0ef62517787782e15c18ff33c..b4d8ed39e8303585c5964e2e8e0847d90a1afcdf 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
@@ -30,16 +30,15 @@ namespace armarx::aron::typenavigator
EigenQuaternionNavigator::EigenQuaternionNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenQuaternion, path),
Navigator(type::Descriptor::eEigenQuaternion, path),
- type(new type::AronEigenQuaternion(""))
+ type(new type::AronEigenQuaternion(false, ""))
{
}
EigenQuaternionNavigator::EigenQuaternionNavigator(const type::AronEigenQuaternionPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenQuaternion, path),
Navigator(type::Descriptor::eEigenQuaternion, path),
- type(o)
+ type(new type::AronEigenQuaternion(*o))
{
- CheckAronPtrForNull("AronEigenQuaternionTypeNavigator", "AronEigenQuaternionTypeNavigator", getPath(), o);
}
bool EigenQuaternionNavigator::checkTypename(const std::string& s) const
@@ -115,5 +114,15 @@ namespace armarx::aron::typenavigator
{
return "AronEigenQuaternionType<" + simox::alg::to_string(ACCEPTED_DIMENSION, ", ") + ", " + type->typeName + ">";
}
+
+ void EigenQuaternionNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool EigenQuaternionNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
index 1f388fdf5e75b3e58a962025e55cd038ad2b9394..8ea5977f76def23ca4e205641fd551bffc27d0c1 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
@@ -66,6 +66,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
index 8d76320d402b315e5b06db15c6bbd85986da5da3..8155f1be1bea50c236407ff74c6be96d9ab1ce67 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
@@ -30,16 +30,15 @@ namespace armarx::aron::typenavigator
IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
Navigator(type::Descriptor::eIVTCByteImage, path),
- type(new type::AronIVTCByteImage(0, 0, ""))
+ type(new type::AronIVTCByteImage(false, 0, 0, ""))
{
}
IVTCByteImageNavigator::IVTCByteImageNavigator(const type::AronIVTCByteImagePtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
Navigator(type::Descriptor::eIVTCByteImage, path),
- type(o)
+ type(new type::AronIVTCByteImage(*o))
{
- CheckAronPtrForNull("AronIVTCByteImageTypeNavigator", "AronIVTCByteImageTypeNavigator", getPath(), o);
}
std::string IVTCByteImageNavigator::checkTypename(const std::string& s) const
@@ -145,5 +144,15 @@ namespace armarx::aron::typenavigator
{
return "AronIVTCByteImageType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
}
+
+ void IVTCByteImageNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool IVTCByteImageNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
index aeaf5a3c7f8057cda95706a91637f11ea25fec3e..3fd5f987a3c946d41ee12fb516acbc932f90d69c 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
@@ -70,6 +70,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e2b8c715846f67725ac41921fc1b4ea707b6169b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
@@ -0,0 +1,129 @@
+/*
+ * 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 "NDArray.h"
+
+namespace armarx::aron::typenavigator
+{
+ // constructors
+ NDArrayNavigator::NDArrayNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eNDArray, path),
+ Navigator(type::Descriptor::eNDArray, path),
+ type(new type::AronNDArray(false, {}, 0, ""))
+ {
+ }
+
+ NDArrayNavigator::NDArrayNavigator(const type::AronNDArrayPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eNDArray, path),
+ Navigator(type::Descriptor::eNDArray, path),
+ type(new type::AronNDArray(*o))
+ {
+ }
+
+ type::AronNDArrayPtr NDArrayNavigator::toAronNDArrayPtr() const
+ {
+ return type;
+ }
+
+ std::vector<int> NDArrayNavigator::getDimensions() const
+ {
+ return type->dimensions;
+ }
+
+ std::string NDArrayNavigator::getTypename() const
+ {
+ return type->typeName;
+ }
+
+ unsigned int NDArrayNavigator::getElementSize() const
+ {
+ return type->elementSize;
+ }
+
+ void NDArrayNavigator::setTypename(const std::string& s)
+ {
+ type->typeName = s;
+ }
+
+ void NDArrayNavigator::setDimensions(const std::vector<int>& v)
+ {
+ type->dimensions = v;
+ }
+
+ void NDArrayNavigator::addDimension(int i)
+ {
+ type->dimensions.push_back(i);
+ }
+
+ void NDArrayNavigator::setElementSize(unsigned int i)
+ {
+ type->elementSize = i;
+ }
+
+ // static methods
+ NDArrayNavigatorPtr NDArrayNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<NDArrayNavigator>(n);
+ }
+
+ NDArrayNavigatorPtr NDArrayNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronNDArrayNavigator", "DynamicCast[Before]", n);
+ NDArrayNavigatorPtr casted = NDArrayNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("AronNDArrayNavigator", "DynamicCast[After]", n->getPath(), casted);
+ return casted;
+ }
+
+ // virtual implementations
+ std::vector<NavigatorPtr> NDArrayNavigator::getChildren() const
+ {
+ return {};
+ }
+
+ size_t NDArrayNavigator::childrenSize() const
+ {
+ return 0;
+ }
+
+ type::AronTypePtr NDArrayNavigator::getResult() const
+ {
+ return toAronNDArrayPtr();
+ }
+
+ std::string NDArrayNavigator::getName() const
+ {
+ return "AronPoseType";
+ }
+
+ void NDArrayNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool NDArrayNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h
new file mode 100644
index 0000000000000000000000000000000000000000..44f384402da5d4fcd0d4b0951ab6ab35693a9b00
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h
@@ -0,0 +1,77 @@
+/*
+ * 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>
+#include <map>
+
+// Base Class
+#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
+
+namespace armarx::aron::typenavigator
+{
+ class NDArrayNavigator;
+ typedef std::shared_ptr<NDArrayNavigator> NDArrayNavigatorPtr;
+
+ class NDArrayNavigator :
+ virtual public Navigator
+ {
+ public:
+ using PointerType = NDArrayNavigatorPtr;
+
+ public:
+ // constructors
+ NDArrayNavigator(const Path& path = Path());
+ NDArrayNavigator(const type::AronNDArrayPtr&, const Path& path = Path());
+
+ std::string getTypename() const;
+ std::vector<int> getDimensions() const;
+ unsigned int getElementSize() const;
+
+ void setTypename(const std::string&);
+ void setDimensions(const std::vector<int>&);
+ void addDimension(int);
+ void setElementSize(unsigned int);
+
+ type::AronNDArrayPtr toAronNDArrayPtr() const;
+
+ // static methods
+ static NDArrayNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static NDArrayNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
+
+ // virtual implementations
+ virtual std::vector<NavigatorPtr> getChildren() const override;
+ virtual size_t childrenSize() const override;
+ virtual type::AronTypePtr getResult() const override;
+ virtual std::string getName() const override;
+
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
+ private:
+ // members
+ type::AronNDArrayPtr type;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
index e0d159cc3fc108c2bfb14d15fa6846e6c97d654f..db77cf3ec13c600a8ed79073c75f8f643b698eb2 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
@@ -30,16 +30,15 @@ namespace armarx::aron::typenavigator
OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
Navigator(type::Descriptor::eOpenCVMat, path),
- type(new type::AronOpenCVMat({}, ""))
+ type(new type::AronOpenCVMat(false, {}, ""))
{
}
OpenCVMatNavigator::OpenCVMatNavigator(const type::AronOpenCVMatPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
Navigator(type::Descriptor::eOpenCVMat, path),
- type(o)
+ type(new type::AronOpenCVMat(*o))
{
- CheckAronPtrForNull("AronOpenCVMatTypeNavigator", "AronOpenCVMatTypeNavigator", getPath(), o);
checkDimensions(type->dimensions);
checkTypename(type->typeName);
}
@@ -144,5 +143,15 @@ namespace armarx::aron::typenavigator
{
return "AronOpenCVMatType<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
}
+
+ void OpenCVMatNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool OpenCVMatNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
index 4a1c0a88fb65404a0d0eab15ca54d0129af180d7..18d61a3c0c0de28d1d0def5c29bc1553e687fccf 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
@@ -68,6 +68,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
index 13be796db0958e73425151df684488dbcc49d86e..0e768b6543607a5762982c51de521c6c74992c80 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
@@ -37,9 +37,8 @@ namespace armarx::aron::typenavigator
OrientationNavigator::OrientationNavigator(const type::AronOrientationPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOrientation, path),
Navigator(type::Descriptor::eOrientation, path),
- type(o)
+ type(new type::AronOrientation(*o))
{
- CheckAronPtrForNull("AronOrientationTypeNavigator", "AronOrientationTypeNavigator", getPath(), o);
}
type::AronOrientationPtr OrientationNavigator::toAronOrientationPtr() const
@@ -91,5 +90,15 @@ namespace armarx::aron::typenavigator
{
return "AronOrientationType";
}
+
+ void OrientationNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool OrientationNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
index 4c9c9929b7b466b14d54617be897d01562d2e39d..001212b292bba3550ee936e5a2f6b0438dcf08b3 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
@@ -65,6 +65,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::string ACCEPTED_TYPE = "float";
const std::vector<int> ACCEPTED_DIMENSION = {1, 4};
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
index 2de0158a82ac9243202becc23a12272ebed0cd43..5aa5cd89fc846bd51257436dbab93f75d1fbad16 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
@@ -30,16 +30,15 @@ namespace armarx::aron::typenavigator
PCLPointCloudNavigator::PCLPointCloudNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
Navigator(type::Descriptor::ePCLPointCloud, path),
- type(new type::AronPCLPointCloud(0, 0, ""))
+ type(new type::AronPCLPointCloud(false, 0, 0, ""))
{
}
PCLPointCloudNavigator::PCLPointCloudNavigator(const type::AronPCLPointCloudPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
Navigator(type::Descriptor::ePCLPointCloud, path),
- type(o)
+ type(new type::AronPCLPointCloud(*o))
{
- CheckAronPtrForNull("AronPCLPointCloudTypeNavigator", "AronPCLPointCloudTypeNavigator", getPath(), o);
checkTypename(type->typeName);
}
@@ -147,5 +146,15 @@ namespace armarx::aron::typenavigator
{
return "AronPCLPointCloudType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
}
+
+ void PCLPointCloudNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool PCLPointCloudNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
index 2f62f1b579b5e84b3acc93aa7a72d70329492736..d0ba9c44852eaf054433a79c8151c2c774352697 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
@@ -70,6 +70,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
index 8713907ec36228dced593baf15dcef2f35d30cd8..0844950b9e9b8a4880bb30f0e58c969dc6ba8ec3 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
@@ -37,9 +37,8 @@ namespace armarx::aron::typenavigator
PoseNavigator::PoseNavigator(const type::AronPosePtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePose, path),
Navigator(type::Descriptor::ePose, path),
- type(o)
+ type(new type::AronPose(*o))
{
- CheckAronPtrForNull("AronPoseTypeNavigator", "AronPoseTypeNavigator", getPath(), o);
}
type::AronPosePtr PoseNavigator::toAronPosePtr() const
@@ -91,5 +90,15 @@ namespace armarx::aron::typenavigator
{
return "AronPoseType";
}
+
+ void PoseNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool PoseNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
index e99d0ea3bd3ac35bbbbfe1b8e493d5ae8eafb1bf..a38aef961a21027dfbc976f79c3d0a201bdd70e5 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
@@ -61,6 +61,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override;
virtual std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::string ACCEPTED_TYPE = "float";
const std::vector<int> ACCEPTED_DIMENSION = {4, 4};
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
index 2172f431b17cbcad41704c1933e78f31758b4ca8..0fe6ed8427613836f3d5449e6ce978a4afc2e858 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
@@ -37,9 +37,8 @@ namespace armarx::aron::typenavigator
PositionNavigator::PositionNavigator(const type::AronPositionPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePosition, path),
Navigator(type::Descriptor::ePosition, path),
- type(o)
+ type(new type::AronPosition(*o))
{
- CheckAronPtrForNull("AronPositionTypeNavigator", "AronPositionTypeNavigator", getPath(), o);
}
type::AronPositionPtr PositionNavigator::toAronPositionPtr() const
@@ -91,5 +90,15 @@ namespace armarx::aron::typenavigator
{
return "AronPositionType";
}
+
+ void PositionNavigator::setOptional(bool v)
+ {
+ type->is_optional = v;
+ }
+
+ bool PositionNavigator::isOptional() const
+ {
+ return type->is_optional;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
index c6a1d0f731a4d068be041efebc79907d6a1f4a87..36eccd67ad92cbb138503db5a365107f5b60628f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
@@ -61,6 +61,9 @@ namespace armarx::aron::typenavigator
type::AronTypePtr getResult() const override;
std::string getName() const override;
+ void setOptional(bool v) override;
+ bool isOptional() const override;
+
public:
const std::string ACCEPTED_TYPE = "float";
const std::vector<int> ACCEPTED_DIMENSION = {3, 1};
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
index bebe319697f9809815cdaa7fad247c247604499b..227155e7eebf03c9381a0d87d8c58b12f14b71eb 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
@@ -46,9 +46,8 @@ namespace armarx::aron::typenavigator
upperType##Navigator::upperType##Navigator(const type::Aron##upperType##Ptr&o, const Path& path) : \
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::e##upperType, path), \
Navigator(type::Descriptor::e##upperType, path), \
- type(o) \
+ type(new type::Aron##upperType(*o)) \
{ \
- CheckAronPtrForNull("typenavigator::" + std::string(#upperType) + "Navigator", std::string(#upperType) + "Navigator", getPath(), o); \
} \
\
type::Aron##upperType##Ptr upperType##Navigator::toAron##upperType##Ptr() const \
@@ -89,6 +88,16 @@ namespace armarx::aron::typenavigator
std::string upperType##Navigator::getName() const \
{\
return "type::Aron" + std::string(#upperType); \
+ }\
+ \
+ void upperType##Navigator::setOptional(bool v) \
+ { \
+ type->is_optional = v; \
+ } \
+ \
+ bool upperType##Navigator::isOptional() const \
+ { \
+ return type->is_optional; \
}
HANDLE_PRIMITIVE_TYPES
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h
index 9fe2fadf5f510f89be02ac3505351f61a63a8f23..3841cd08da0c5dfa591e41df1b26699928a606e1 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h
@@ -61,6 +61,9 @@ namespace armarx::aron::typenavigator
virtual type::AronTypePtr getResult() const override; \
virtual std::string getName() const override; \
\
+ void setOptional(bool v) override; \
+ bool isOptional() const override; \
+ \
private: \
type::Aron##upperType##Ptr type; \
};
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index de44d5a1d28a8148139265d1a18a6667c1c4a697..d491c12363d7c088250599c7ff88dd6f62f25506 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -57,5 +57,6 @@ armarx_enable_aron_file_generation_for_target(
xmls/PoseTest.xml
xmls/PositionTest.xml
xmls/PrimitiveTest.xml
+ xmls/OptionalTest.xml
#ENABLE_DEBUG_INFO
)
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index e8fd551be59727494f1c92040d81a8bddf1fe8bd..96c6a5c53485b860ce967ddbbe8fb2c50cb19b66 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -82,6 +82,7 @@
#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>
using namespace armarx;
using namespace aron;
@@ -350,3 +351,11 @@ BOOST_AUTO_TEST_CASE(AronPoseTest)
PoseTest pc2;
runTestWithInstances<PoseTest>(pc, pc2);
}
+
+BOOST_AUTO_TEST_CASE(AronOptionalTest)
+{
+ std::cout << "Running Optional test" << std::endl;
+ OptionalTest pc;
+ OptionalTest pc2;
+ runTestWithInstances<OptionalTest>(pc, pc2);
+}
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ab102f24000f318b15ef7f8d8b99e71b9fc4c8b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <Object name="armarx::OptionalTestElement">
+ <ObjectChild key="val">
+ <Float />
+ </ObjectChild>
+ </Object>
+ <Object name='armarx::OptionalTest'>
+
+ <ObjectChild key='some_float' optional="1">
+ <Float />
+ </ObjectChild>
+
+ <ObjectChild key='some_string' optional="true">
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='some_dict' optional="wahr">
+ <Dict>
+ <Float />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key='some_dict_with_optional_type'>
+ <Dict>
+ <Float optional="true" />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key='some_list' optional="ja">
+ <List>
+ <Double />
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key='some_list_with_optional_type'>
+ <List>
+ <Double optional="true"/>
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key='some_obj' optional="ja">
+ <EigenMatrix rows="25" cols="10" type="long" />
+ </ObjectChild>
+
+ <ObjectChild key='some_obj' optional="ja">
+ <armarx::OptionalTestElement />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>