const correctness of nlohmannsjon converter + fixed conversion function of...

const correctness of nlohmannsjon converter + fixed conversion function of nlohmann json converter in aron_common

source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp

@@ -26,9 +26,8 @@ namespace armarx::aron::converter
 
     void AronNlohmannJSONConverter::ConvertFromNlohmannJSON(aron::data::DictPtr& a, const nlohmann::json& e, const aron::type::VariantPtr& expectedStructure)
     {
-        aron::data::reader::NlohmannJSONReader dataReader;
-        //aron::data::writer::NavigatorWriter navWriter;
-        //aron::data::Converter::ReadAndConvert(dataReader, navWriter, expectedStructure);
-        //a = aron::data::Dict::DynamicCastAndCheck(navWriter.getResult());
+        aron::data::writer::NlohmannJSONWriter dataWriter;
+        auto v = aron::data::readAndWrite<NlohmannJSON2VariantConverterHelper>(e);
+        a = aron::data::Dict::DynamicCastAndCheck(v);
     }
 }

source/RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h

@@ -36,8 +36,6 @@ namespace armarx::aron::data
             virtual public NlohmannJSONVisitor,
             virtual public Converter<aron::data::reader::NlohmannJSONReader, WriterImplementation, DerivedT>
     {
-        using NlohmannJSONVisitor::getDescriptor;
-
         virtual ~NlohmannJSONConverter() = default;
     };
 }

source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h

@@ -36,9 +36,9 @@
 
 namespace armarx::aron::data
 {
-    struct NlohmannJSONVisitor : virtual public Visitor<nlohmann::json, data::Descriptor>
+    struct NlohmannJSONVisitor : virtual public Visitor<const nlohmann::json, data::Descriptor>
     {
-        virtual data::Descriptor getDescriptor(const nlohmann::json& n)
+        virtual data::Descriptor getDescriptor(const nlohmann::json& n) override
         {
             std::string t = n[armarx::aron::data::rw::json::constantes::TYPE_SLUG];
             return armarx::aron::data::rw::json::conversion::String2Descriptor.at(t);