diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index add1b800c01ad8186008d55574559e0705527a4b..72f2eb78f04b610b0be55fc7a4d9fdabb90cab6d 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -253,8 +253,7 @@ namespace armarx::aron::codegenerator::cpp
b->addLine("using _Aron_TNonConst [[maybe_unused]] = typename ReaderT::InputTypeNonConst;");
b->addLine("this->resetSoft();");
- b->addLine("if (" + ARON_READER_ACCESSOR + ".readNull(input))");
- b->addLineAsBlock("throw ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"The input to the read method must not be null.\");");
+ b->addLine("ARMARX_CHECK_AND_THROW(!" + ARON_READER_ACCESSOR + ".readNull(input), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"The input to the read method must not be null.\"));");
b->addLine("try");
b->addBlock(this->getReadBlock("", "input"));
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 2fbfad0e89159185d4481abde6fada3e9d79d14c..569d5be67dfd601cf09157655ff0542f022680ae 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -101,7 +101,27 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("std::string " + type + ";");
block_if_data->addLine("std::vector<int> " + dims + ";");
block_if_data->addLine("std::vector<unsigned char> " + data + ";");
+
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
+
+ if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and this->type.getCols() != -1)
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0));");
+ }
+
+ if(this->type.getRows() != -1 and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(1));");
+ }
+
+ if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0), " + dims + ".at(1));");
+ }
+
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + cppAccessor + nextEl() + "rows() == " + dims + ".at(0) and " + cppAccessor + nextEl() + "cols() == " + dims + ".at(1), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(ElementType2Cpp.at(this->type.getElementType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
+
block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "data()), "+data+".data(), "+data+".size());");
return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index c1c77424ba3d97dc217bd846bb1335023761fa2a..4e5b54e5c6a41bd74147a5445d4d5abdb298b5a4 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -134,7 +134,10 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("int " + INT_ENUM_TMP_VALUE + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readPrimitive("+variantAccessor+", "+INT_ENUM_TMP_VALUE+"); // of top level enum " + getInstantiatedCppTypename());
- block_if_data->addLine("value = ValueToEnumMap.at("+INT_ENUM_TMP_VALUE+");");
+
+ block_if_data->addLine("auto valueToEnumMap_iterator = ValueToEnumMap.find("+INT_ENUM_TMP_VALUE+");");
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(valueToEnumMap_iterator != ValueToEnumMap.end(), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Missing enum for value '\" + std::to_string(" + INT_ENUM_TMP_VALUE + ") + \"' in aron enum '" + getFullClassCppTypename() + "'.\"))");
+ block_if_data->addLine("value = valueToEnumMap_iterator->second;");
return block_if_data;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index 0d54dc8bf173b1262ecbc938a6c1678fb1dff8b2..5d5409792c245220df2a0f4918c02ef9412fa6af 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -213,8 +213,10 @@ namespace armarx::aron::codegenerator::cpp::generator
for (const auto& [key, child] : type.getMemberTypes())
{
const auto child_s = FromAronType(*child);
- const std::string child_variant_accessor = OBJECT_MEMBERS_ACCESSOR + ".at(\"" + key + "\")";
- block_if_data->appendBlock(child_s->getReadBlock(key, child_variant_accessor));
+ std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
+ block_if_data->addLine("auto " + child_accessor + " = " + OBJECT_MEMBERS_ACCESSOR + ".find(\"" + key + "\");");
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + child_accessor + " != " + OBJECT_MEMBERS_ACCESSOR + ".end(), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Missing member '" + key + "' in aron object '" + getFullClassCppTypename() + "'.\"));");
+ block_if_data->appendBlock(child_s->getReadBlock(key, child_accessor + "->second"));
}
return block_if_data;
}
@@ -237,4 +239,3 @@ namespace armarx::aron::codegenerator::cpp::generator
return block_if_data;
}
}
-
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
index e57da47b6d56c9d33a146a609c6dcba9c6c06f30..d7add84ada2fcafe2c8bf8f9f9a8d2c40e663c7d 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -106,6 +106,25 @@ armarx_add_test(
${Simox_INCLUDE_DIR}
)
+######################
+# ARON JSON EXPORT TEST
+######################
+armarx_add_test(
+ TEST_NAME
+ aronJsonExportTest
+ TEST_FILE
+ aronJsonExportTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/OptionalTest.xml
+ aron/MatrixTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
########################
# ARON RANDOMIZED TEST #
########################
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aronJsonExportTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronJsonExportTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dea56801557a7890824c8f03d5b2cf5b2711d9a0
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronJsonExportTest.cpp
@@ -0,0 +1,86 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::ArmarXObjects::aron
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::aron
+
+#define ARMARX_BOOST_TEST
+
+// STD/STL
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <numeric>
+#include <fstream>
+
+// Test
+#include <RobotAPI/Test.h>
+
+// ArmarX
+#include <ArmarXCore/libraries/cppgen/CppMethod.h>
+#include <ArmarXCore/libraries/cppgen/CppClass.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+#include <RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
+
+// Generated File
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.aron.generated.h>
+
+using namespace armarx;
+using namespace aron;
+
+BOOST_AUTO_TEST_CASE(AronJsonExportTest)
+{
+ std::cout << "Aron json export test" << std::endl;
+ OptionalTest clazz;
+
+ {
+ auto t = clazz.ToAronType();
+
+ auto type_writer = type::writer::NlohmannJSONWriter();
+ auto type_json = clazz.writeType(type_writer);
+
+ std::ofstream type_ofs("/tmp/aronJsonExportTestType.json");
+ type_ofs << type_json.dump(2);
+
+ auto data_writer = data::writer::NlohmannJSONWriter();
+ auto data_json = clazz.write(data_writer);
+
+ std::ofstream data_ofs("/tmp/aronJsonExportTestData.json");
+ data_ofs << data_json.dump(2);
+ }
+
+
+ // Try to read data again
+ auto data_reader = data::reader::NlohmannJSONReader();
+ std::ifstream data_ifs("/tmp/aronJsonExportTestData.json");
+ auto data_json = nlohmann::json::parse(data_ifs);
+
+ clazz.read(data_reader, data_json);
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/Exception.h b/source/RobotAPI/libraries/aron/core/Exception.h
index 52de8098900e7a8dc5538aa4d53453cffe52a7e5..5395c9eb65d2a61632ab56ad5ee1704a8679e6e1 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.h
+++ b/source/RobotAPI/libraries/aron/core/Exception.h
@@ -52,6 +52,14 @@ namespace armarx::aron::error
LocalException(prettymethod + ": " + reason + ". The path was: " + path.toString())
{
}
+
+ /// call operator to append a message to the exception. Used by ARMARX_CHECK_AND_THROW
+ AronException& operator()(const std::string& additionalMessage = "")
+ {
+ auto currentReason = getReason();
+ setReason(currentReason + ". Additional Message: " + additionalMessage);
+ return *this;
+ }
};
/**
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
index 552c653a9bb983f1066a7ef87737fa69377c8a8a..8372d89c318cf821a9056c6e5f00f58f372492db 100644
--- a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
@@ -30,6 +30,8 @@
#include <map>
// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
index e773c517d9ceee0c8c166f327b639a2c8f799f6b..985f914d16d8c501992aeab2b44a0c7a00d9b8e6 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
@@ -19,13 +19,21 @@
*/
// STD/STL
+#include <cmath>
+#include <cstdint>
+#include <cstring>
#include <memory>
#include <numeric>
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
+#include "ArmarXCore/core/logging/Logging.h"
+
// Header
#include "NlohmannJSONReaderWithoutTypeCheck.h"
// ArmarX
+#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h>
@@ -56,6 +64,26 @@ namespace armarx::aron::data::reader
elements = input.get<std::map<std::string, nlohmann::json>>();
}
+
+ const std::map<std::string, type::matrix::ElementType> ElementTypeAsString = {
+ {"short", ::armarx::aron::type::matrix::INT16},
+ {"int", ::armarx::aron::type::matrix::INT32},
+ {"long", ::armarx::aron::type::matrix::INT64},
+ {"float", ::armarx::aron::type::matrix::FLOAT32},
+ {"double", ::armarx::aron::type::matrix::FLOAT64}};
+
+ template <typename T>
+ void
+ readTo(const nlohmann::json& input, std::vector<unsigned char>& data)
+ {
+ const std::vector<T> d = input.at("data").get<std::vector<T>>();
+
+ const std::size_t bufferLen = d.size() * sizeof(T);
+
+ data.resize(bufferLen);
+ memcpy(data.data(), d.data(), bufferLen);
+ }
+
void
NlohmannJSONReaderWithoutTypeCheck::readNDArray(const nlohmann::json& input,
std::vector<int>& shape,
@@ -64,7 +92,37 @@ namespace armarx::aron::data::reader
Path& p)
{
shape = input.at("dims").get<std::vector<int>>();
- data = input.at("data").get<std::vector<unsigned char>>();
+
+ typeAsString = input.at("type").get<std::string>();
+
+ ARMARX_CHECK(ElementTypeAsString.count(typeAsString) > 0)
+ << "Invalid element `" << typeAsString << "`. Valid elements are "
+ << simox::alg::get_keys(ElementTypeAsString) << ".";
+
+ const type::matrix::ElementType elementType = ElementTypeAsString.at(typeAsString);
+
+ // as we need to return a vector<uchar>, we first need to read the json array as the specific type
+ // and then convert it to the vector<uchar>
+ switch (elementType)
+ {
+ case type::matrix::INT16:
+ readTo<std::int16_t>(input, data);
+ break;
+ case type::matrix::INT32:
+ readTo<std::int32_t>(input, data);
+ break;
+ case type::matrix::INT64:
+ readTo<std::int64_t>(input, data);
+ break;
+ case type::matrix::FLOAT32:
+ readTo<std::float_t>(input, data);
+ break;
+ case type::matrix::FLOAT64:
+ readTo<std::double_t>(input, data);
+ break;
+ }
+
+ ARMARX_INFO << VAROUT(typeAsString);
}
void
@@ -104,4 +162,5 @@ namespace armarx::aron::data::reader
{
i = input;
}
+
} // namespace armarx::aron::data::reader
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
index e0bed7b71869e2abc074484fe3fb9774e0ef6730..2d17af7f5ead72cc51f04623a816e1fb8236c8ad 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h
@@ -69,5 +69,6 @@ namespace armarx::aron::data::reader
void readDouble(InputType& input, double& i, Path& p) override;
void readString(InputType& input, std::string& i, Path& p) override;
void readBool(InputType& input, bool& i, Path& p) override;
+
};
} // namespace armarx::aron::data::reader