From 697ad84d97a3b567cd1233ea71584267c61284d4 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Thu, 6 May 2021 15:26:10 +0200
Subject: [PATCH] first working version
---
source/RobotAPI/libraries/aron/core/Debug.h | 12 +-
.../RobotAPI/libraries/aron/core/Randomizer.h | 35 +++-
.../codeWriter/cpp/AronCppClass.h | 2 +-
.../codeWriter/cpp/serializer/Serializer.cpp | 40 +++-
.../codeWriter/cpp/serializer/Serializer.h | 8 +-
.../cpp/serializer/container/Dict.cpp | 12 +-
.../cpp/serializer/container/List.cpp | 11 +-
.../cpp/serializer/container/Object.cpp | 8 +-
.../cpp/serializer/container/Pair.cpp | 13 +-
.../cpp/serializer/container/Tuple.cpp | 11 +-
.../cpp/serializer/enum/IntEnum.cpp | 2 +-
.../cpp/serializer/ndarray/EigenMatrix.cpp | 9 +-
.../serializer/ndarray/EigenQuaternion.cpp | 9 +-
.../cpp/serializer/ndarray/IVTCByteImage.cpp | 14 +-
.../cpp/serializer/ndarray/IVTCByteImage.h | 2 -
.../cpp/serializer/ndarray/OpenCVMat.cpp | 14 +-
.../cpp/serializer/ndarray/OpenCVMat.h | 1 -
.../cpp/serializer/ndarray/Orientation.cpp | 16 +-
.../cpp/serializer/ndarray/PCLPointCloud.cpp | 14 +-
.../cpp/serializer/ndarray/PCLPointCloud.h | 2 -
.../cpp/serializer/ndarray/Pose.cpp | 16 +-
.../cpp/serializer/ndarray/Position.cpp | 16 +-
.../cpp/serializer/primitive/Primitive.cpp | 8 +-
.../cpp/serializer/toplevel/IntEnumClass.cpp | 2 +-
.../cpp/serializer/toplevel/ObjectClass.cpp | 18 +-
.../libraries/aron/core/io/dataIO/Reader.h | 50 +++--
.../core/io/dataIO/converter/Converter.cpp | 32 +--
.../aron/core/io/dataIO/reader/ReaderToken.h | 9 +-
.../reader/navigator/NavigatorReader.cpp | 182 ++++++++++++------
.../dataIO/reader/navigator/NavigatorReader.h | 34 ++--
.../reader/navigator/NavigatorReaderToken.h | 5 +
.../nlohmannJSON/NlohmannJSONReader.cpp | 159 +++++++++------
.../reader/nlohmannJSON/NlohmannJSONReader.h | 30 ++-
.../nlohmannJSON/NlohmannJSONReaderToken.h | 5 +
.../aron/core/io/dataIO/visitor/Visitor.cpp | 12 ++
.../aron/core/navigator/NavigatorFactory.h | 1 -
.../core/navigator/data/NavigatorFactory.cpp | 63 +-----
.../core/navigator/data/NavigatorFactory.h | 1 -
.../core/navigator/type/NavigatorFactory.cpp | 5 -
.../core/navigator/type/NavigatorFactory.h | 1 -
.../libraries/aron/core/test/aronTest.cpp | 76 ++++----
.../aron/core/test/xmls/OptionalTest.xml | 10 +
42 files changed, 543 insertions(+), 427 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/core/Debug.h b/source/RobotAPI/libraries/aron/core/Debug.h
index 28b395864..672b47dee 100644
--- a/source/RobotAPI/libraries/aron/core/Debug.h
+++ b/source/RobotAPI/libraries/aron/core/Debug.h
@@ -46,6 +46,11 @@ namespace armarx::aron
static std::string AronDataPtrToString(const data::AronDataPtr& data)
{
+ if (!data)
+ {
+ return "";
+ }
+
dataIO::writer::NlohmannJSONWriter w;
dataIO::Visitor::VisitAndSetup(w, data);
return w.getResult().dump(2);
@@ -53,10 +58,11 @@ namespace armarx::aron
static std::string NavigatorPtrToString(const datanavigator::NavigatorPtr& data)
{
- if (data == nullptr)
+ if (!data)
{
return "";
}
+
dataIO::writer::NlohmannJSONWriter w;
dataIO::Visitor::VisitAndSetup(w, data);
return w.getResult().dump(2);
@@ -71,10 +77,6 @@ namespace armarx::aron
static std::string NavigatorPtrToString(const typenavigator::NavigatorPtr& data)
{
- if (data == nullptr)
- {
- return "";
- }
typeIO::writer::NlohmannJSONWriter w;
typeIO::Visitor::VisitAndSetup(w, data);
return w.getResult().dump(2);
diff --git a/source/RobotAPI/libraries/aron/core/Randomizer.h b/source/RobotAPI/libraries/aron/core/Randomizer.h
index 315dbed65..b92bc4497 100644
--- a/source/RobotAPI/libraries/aron/core/Randomizer.h
+++ b/source/RobotAPI/libraries/aron/core/Randomizer.h
@@ -119,7 +119,7 @@ namespace armarx::aron
t->setSecondAcceptedType(b);
return t;
}
- case type::Descriptor::eEigenMatrix:
+ case type::Descriptor::eEigenMatrix: // TODO
case type::Descriptor::eEigenQuaternion:
case type::Descriptor::eIVTCByteImage:
case type::Descriptor::eOpenCVMat:
@@ -170,8 +170,16 @@ namespace armarx::aron
}
}
- datanavigator::NavigatorPtr generateAronDataFromType(const typenavigator::NavigatorPtr& type) const
+ datanavigator::NavigatorPtr generateAronDataFromType(const typenavigator::NavigatorPtr& type, bool ignore_optional = false) const
{
+ if (type->isOptional() && !ignore_optional)
+ {
+ if (fiftyPercentChance())
+ {
+ return nullptr;
+ }
+ }
+
const type::Descriptor desc = type->getDescriptor();
switch (desc)
{
@@ -233,6 +241,23 @@ case type::Descriptor::e##upperType: \
void initializeRandomly(datanavigator::NavigatorPtr& data, const typenavigator::NavigatorPtr& type) const
{
+ if (!data)
+ {
+ if (!type->isOptional())
+ {
+ throw error::AronException("Randomizer", "initializeRandomly", "The data is null but the type is not optional. This is not valid.");
+ }
+
+ if (fiftyPercentChance()) // 50% chance
+ {
+ data = generateAronDataFromType(type, true);
+ }
+ else
+ {
+ return;
+ }
+ }
+
// Containers
type::Descriptor desc = type->getDescriptor();
switch (desc)
@@ -264,6 +289,12 @@ case type::Descriptor::e##upperType: \
return random;
}
+
+ bool fiftyPercentChance() const
+ {
+ return generateRandom(2, 1) == 1;
+ }
+
std::string generateRandomWord(const std::set<std::string>& usedKeys = {}) const
{
std::vector<string> words =
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 390a0de8b..4616c362b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -49,7 +49,7 @@ namespace armarx::aron::cppcodegenerator
AronCppClass() = default;
virtual void reset() = 0;
virtual void initialize() = 0;
- virtual void read(armarx::aron::dataIO::ReaderInterface& r) = 0;
+ virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict = false) = 0;
virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
};
}
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 098952c5b..ed79c6825 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
@@ -35,6 +35,8 @@ namespace armarx::aron::cppcodegenerator
const std::string Serializer::ARON_DATA_NAME = simox::meta::get_type_name(typeid(armarx::aron::data::AronData));
const std::string Serializer::ARON_DATA_PTR_NAME = Serializer::ARON_DATA_NAME + "::PointerType";
+ const std::string Serializer::READ_START_RETURN_TYPE_ACCESSOR = "_return_type";
+
const std::string Serializer::ARON_TYPE_NAME = simox::meta::get_type_name(typeid(armarx::aron::type::AronType));
const std::string Serializer::ARON_TYPE_PTR_NAME = Serializer::ARON_TYPE_NAME + "::PointerType";
@@ -47,8 +49,10 @@ namespace armarx::aron::cppcodegenerator
{
{"->", "_ptr_"},
{".", "_dot_"},
- {"[", "_lbr_"},
- {"]", "_rbr_"},
+ {"[", "_lbrE_"},
+ {"]", "_rbrE_"},
+ {"(", "_lbrR_"},
+ {")", "_rbrR_"}
};
const SerializerFactoryPtr Serializer::FACTORY = SerializerFactoryPtr(new SerializerFactory());
@@ -126,7 +130,7 @@ namespace armarx::aron::cppcodegenerator
return s;
}
- CppBlockPtr Serializer::ResolveOptionalBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ CppBlockPtr Serializer::ResolveOptionalWriteBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
{
if (typenavigator->isOptional())
{
@@ -145,6 +149,30 @@ namespace armarx::aron::cppcodegenerator
}
}
+ CppBlockPtr Serializer::ResolveOptionalReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ {
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
+
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ b->addLine("auto " + read_start_result_accessor + " = " + readElement + ";");
+ if (typenavigator->isOptional())
+ {
+ b->addLine("if (" + read_start_result_accessor + ".success)");
+
+ CppBlockPtr b2 = std::make_shared<CppBlock>();
+ b2->addLine(accessor + ".emplace();");
+ b2->appendBlock(block_if_data);
+
+ b->addBlock(b2);
+ }
+ else
+ {
+ b->appendBlock(block_if_data);
+ }
+ return b;
+ }
+
// constructors
Serializer::Serializer(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, SerializerAccessType accessType) :
accessType(accessType),
@@ -264,8 +292,10 @@ namespace armarx::aron::cppcodegenerator
doc << "@param r - The reader implementation\n";
doc << "@return - nothing";
- CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r) override", doc.str()));
- CppBlockPtr b = this->getReadBlock("");
+ CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict = false) override", doc.str()));
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ b->addLine("this->reset();");
+ b->appendBlock(this->getReadBlock(""));
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 f631e9ecb..443d77098 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
@@ -32,6 +32,7 @@
// Simox
#include <SimoxUtility/meta/type_name.h>
#include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/algorithm/vector.hpp>
// ArmarX
#include <ArmarXCore/libraries/cppgen/CppBlock.h>
@@ -121,7 +122,8 @@ namespace armarx::aron::cppcodegenerator
static SerializerPtr FromAronTypeNaviagtorPtr(const typenavigator::NavigatorPtr&);
static std::string ResolveOptionalAccessor(const std::string&, const typenavigator::NavigatorPtr&);
- static CppBlockPtr ResolveOptionalBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveOptionalWriteBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveOptionalReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
protected:
std::string nextEl() const
@@ -139,8 +141,10 @@ namespace armarx::aron::cppcodegenerator
}
}
+ protected:
+ static const std::string READ_START_RETURN_TYPE_ACCESSOR;
+
private:
- // members
const static std::string ARON_DATA_NAME;
const static std::string ARON_DATA_PTR_NAME;
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 821574260..38f19a14c 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
@@ -105,13 +105,12 @@ namespace armarx::aron::cppcodegenerator::serializer
block_if_data->addBlock(b2);
block_if_data->addLine("w.writeEndDict();");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("r.readStartDict();");
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -119,15 +118,16 @@ namespace armarx::aron::cppcodegenerator::serializer
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- b->addLine("while(!r.readEndDict())");
+ block_if_data->addLine("while(!r.readEndDict())");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+
b2->addLine("std::string " + accessor_iterator_key + " = r.readKey();");
b2->addLine(type_s->getFullCppTypename() + " " + accessor_iterator + ";");
b2->appendBlock(type_s->getReadBlock(accessor_iterator));
b2->addLine(accessor + nextEl() + "insert({" + accessor_iterator_key + ", " + accessor_iterator + "});");
- b->addBlock(b2);
- return b;
+ block_if_data->addBlock(b2);
+ return ResolveOptionalReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 ae2428570..5a3cb2da4 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
@@ -94,18 +94,17 @@ namespace armarx::aron::cppcodegenerator::serializer
block_if_data->addBlock(type_s->getWriteBlock(accessor + nextEl() + "at(" + accessor_iterator + ")"));
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ListSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("r.readStartList();");
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + LIST_ITERATOR_ACCESSOR;
- b->addLine("while(!r.readEndList())");
+ block_if_data->addLine("while(!r.readEndList())");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
@@ -113,8 +112,8 @@ namespace armarx::aron::cppcodegenerator::serializer
b2->appendBlock(type_s->getReadBlock(accessor_iterator));
b2->addLine(accessor + nextEl() + "push_back(" + accessor_iterator + ");");
- b->addBlock(b2);
- return b;
+ block_if_data->addBlock(b2);
+ return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr ListSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 31d398f40..166e21417 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
@@ -94,14 +94,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine(accessor + nextEl() + "write(w);");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + nextEl() + "read(r);");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + nextEl() + "read(r, true);");
+ return ResolveOptionalReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 447f5b92c..bd93b2827 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
@@ -132,24 +132,23 @@ namespace armarx::aron::cppcodegenerator::serializer
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("r.readStartList();");
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
CppBlockPtr b21 = child_s1->getReadBlock(accessor + nextEl() + "first");
- b->appendBlock(b21);
+ block_if_data->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
CppBlockPtr b22 = child_s2->getReadBlock(accessor + nextEl() + "second");
- b->appendBlock(b22);
+ block_if_data->appendBlock(b22);
- b->addLine("r.readEndList();");
- return b;
+ block_if_data->addLine("r.readEndList();");
+ return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 57d7e0419..41b9f2325 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
@@ -129,13 +129,12 @@ namespace armarx::aron::cppcodegenerator::serializer
}
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("r.readStartList();");
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator);
@@ -144,10 +143,10 @@ namespace armarx::aron::cppcodegenerator::serializer
{
auto type_s = FromAronTypeNaviagtorPtr(type);
CppBlockPtr b2 = type_s->getReadBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
- b->appendBlock(b2);
+ block_if_data->appendBlock(b2);
}
- b->addLine("r.readEndList();");
- return b;
+ block_if_data->addLine("r.readEndList();");
+ return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 7cbd3deb4..3b320f482 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
@@ -86,7 +86,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine(accessor + nextEl() + "write(w);");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IntEnumSerializer::getReadBlock(const std::string& accessor) const
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 4184f0754..aac6ddc92 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
@@ -91,15 +91,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->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 ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getReadBlock(const std::string& accessor) const
{
- 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 + nextEl() + "data()));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 c1f541675..9d440b662 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
@@ -86,15 +86,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getReadBlock(const std::string& accessor) const
{
- 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 + nextEl() + "coeffs().data()));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 170b9a086..b0837995b 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
@@ -86,20 +86,18 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->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 ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
- std::string dims_accessor = escaped_accessor + DIMENSION_ACCESSOR;
- std::string type_accessor = escaped_accessor + TYPE_ACCESSOR;
+ std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
- b->addLine("const auto [" + dims_accessor + ", " + type_accessor + "] = r.readStartNDArray();");
- 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;
+ block_if_data->addLine(accessor + nextEl() + "Set(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1], static_cast<CByteImage::ImageType>(std::stoi(" + read_start_result_accessor + ".type)));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index a801d7f3d..adc0bd711 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -63,8 +63,6 @@ namespace armarx::aron::cppcodegenerator::serializer
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::IVTCByteImageNavigatorPtr 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 4076b1dc7..a1e6c70af 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
@@ -119,20 +119,18 @@ namespace armarx::aron::cppcodegenerator::serializer
block_if_data->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "elemSize());");
block_if_data->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data));");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr OpenCVMatSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
- std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
+ std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
- 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 + nextEl() + "data));");
- return b;
+ block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(std::vector<int>({" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())}), std::stoi(" + read_start_result_accessor + ".type));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
index 79c8b0c05..d09789b18 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
@@ -65,7 +65,6 @@ namespace armarx::aron::cppcodegenerator::serializer
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
static constexpr const char* ITERATOR_ACCESSOR = "_iterator";
static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::OpenCVMatNavigatorPtr typenavigator;
};
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 8a8afb3c7..e174d775d 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
@@ -77,22 +77,16 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
- std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
-
- b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 761e2b6f0..421712428 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
@@ -99,20 +99,18 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->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 ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
- std::string dims_accessor = escaped_accessor + DIMENSION_ACCESSOR;
- std::string type_accessor = escaped_accessor + TYPE_ACCESSOR;
+ std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
- 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 + nextEl() + "points.data()));");
- return b;
+ block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1]);");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 2224fce91..737d7fedf 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -62,8 +62,6 @@ namespace armarx::aron::cppcodegenerator::serializer
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::PCLPointCloudNavigatorPtr typenavigator;
};
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 f13b1d44b..cfd519183 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
@@ -77,22 +77,16 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
- std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
-
- b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 4d1ee7b6e..2a10218ee 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
@@ -77,22 +77,16 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
- std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
-
- b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
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 8987f2d59..2b445e9a9 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
@@ -100,15 +100,15 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator); \
block_if_data->addLine("w.writePrimitive(" + resolved_accessor + ");"); \
\
- return ResolveOptionalBlock(accessor, block_if_data, typenavigator); \
+ return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator); \
} \
\
CppBlockPtr upperType##Serializer::getReadBlock(const std::string& accessor) const \
{ \
- CppBlockPtr b = CppBlockPtr(new CppBlock()); \
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock()); \
std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator); \
- b->addLine("r.readPrimitive(" + resolved_accessor + ");"); \
- return b; \
+ block_if_data->addLine("r.readEndPrimitive(" + resolved_accessor + ");"); \
+ return ResolveOptionalReadBlock(accessor, "r.readStartPrimitive()", block_if_data, typenavigator); \
} \
\
CppBlockPtr upperType##Serializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const \
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 68fc518a9..bba85ed45 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
@@ -120,7 +120,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("int temporary;");
- b->addLine("r.readPrimitive(temporary);");
+ b->addLine("r.readEndPrimitive(temporary);");
b->addLine("value = ValueToEnumMap.at(temporary);");
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 4ad79753c..21c9a67e0 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
@@ -150,7 +150,11 @@ namespace armarx::aron::cppcodegenerator::serializer
b->addLine(extends_s->getFullCppTypename() + "::read(r);");
}
- b->addLine("r.readStartDict();");
+ b->addLine("if(!skip_first_readStartDict)");
+ auto readStartDict = std::make_shared<CppBlock>();
+ readStartDict->addLine("r.readStartDict();");
+ b->addBlock(readStartDict);
+
for (const auto& [key, child] : navigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -158,17 +162,9 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr child_b = child_s->getReadBlock(key);
q->appendBlock(child_b);
+ b->addLine("r.loadMember(\"" + key + "\");");
+ b->appendBlock(q);
- 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/io/dataIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
index affc2342e..ac4ee93d1 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
@@ -38,31 +38,45 @@ namespace armarx::aron::dataIO
class ReaderInterface
{
public:
- virtual int readStartDict() = 0;
+ struct ReadStartDictReturnType
+ {
+ int elements;
+ bool success;
+ };
+ virtual ReadStartDictReturnType readStartDict() = 0;
virtual bool readEndDict() = 0;
- virtual int readStartList() = 0;
- virtual bool readEndList() = 0;
- virtual std::tuple<std::vector<int>, std::string> readStartNDArray() = 0;
- virtual bool readEndNDArray(unsigned char*) = 0;
+ struct ReadStartListReturnType
+ {
+ int elements;
+ bool success;
+ };
+ virtual ReadStartListReturnType readStartList() = 0;
+ virtual bool readEndList() = 0;
- virtual void readPrimitive(int&) = 0;
- virtual void readPrimitive(long&) = 0;
- virtual void readPrimitive(float&) = 0;
- virtual void readPrimitive(double&) = 0;
- virtual void readPrimitive(std::string&) = 0;
- virtual void readPrimitive(bool&) = 0;
+ struct ReadStartNDArrayReturnType
+ {
+ std::vector<int> dims;
+ std::string type;
+ bool success;
+ };
+ virtual ReadStartNDArrayReturnType readStartNDArray() = 0;
+ virtual void readEndNDArray(unsigned char*) = 0;
- template<class T>
- T readPrimitive()
+ struct ReadPrimitiveReturnType
{
- T p;
- readPrimitive(p);
- return p;
- }
+ bool success;
+ };
+ virtual ReadPrimitiveReturnType readStartPrimitive() = 0;
+ virtual void readEndPrimitive(int&) = 0;
+ virtual void readEndPrimitive(long&) = 0;
+ virtual void readEndPrimitive(float&) = 0;
+ virtual void readEndPrimitive(double&) = 0;
+ virtual void readEndPrimitive(std::string&) = 0;
+ virtual void readEndPrimitive(bool&) = 0;
virtual std::string readKey() = 0;
- virtual bool loadMember(const std::string&) = 0;
+ virtual void 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/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
index a0feee781..a7629cd5c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
@@ -40,7 +40,7 @@ namespace armarx::aron::dataIO
{
case data::Descriptor::eDict:
{
- int elements = reader.readStartDict();
+ auto readStartDict = reader.readStartDict();
writer.writeStartDict();
typenavigator::NavigatorPtr childType = nullptr;
@@ -50,7 +50,7 @@ namespace armarx::aron::dataIO
childType = t->getAcceptedType();
}
- for (int i = 0; i < elements; ++i)
+ for (int i = 0; i < readStartDict.elements; ++i)
{
std::string key = reader.readKey();
writer.writeKey(key);
@@ -71,7 +71,7 @@ namespace armarx::aron::dataIO
}
case data::Descriptor::eList:
{
- int elements = reader.readStartList();
+ auto readStartList = reader.readStartList();
writer.writeStartList();
typenavigator::NavigatorPtr childType = nullptr;
@@ -81,7 +81,7 @@ namespace armarx::aron::dataIO
childType = t->getAcceptedType();
}
- for (int i = 0; i < elements; ++i)
+ for (int i = 0; i < readStartList.elements; ++i)
{
if (t_desc == type::Descriptor::eObject)
{
@@ -99,48 +99,54 @@ namespace armarx::aron::dataIO
case data::Descriptor::eNDArray:
{
- auto [dims, type] = reader.readStartNDArray();
- int elements = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ auto readStartNDArray = reader.readStartNDArray();
+ int elements = std::accumulate(std::begin(readStartNDArray.dims), std::end(readStartNDArray.dims), 1, std::multiplies<int>());
std::vector<unsigned char> data(elements);
reader.readEndNDArray(data.data());
- writer.writeNDArray(dims, type, data.data());
+ writer.writeNDArray(readStartNDArray.dims, readStartNDArray.type, data.data());
break;
}
case data::Descriptor::eInt:
{
- int val = reader.readPrimitive<int>();
+ int val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
case data::Descriptor::eLong:
{
- long val = reader.readPrimitive<long>();
+ long val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
case data::Descriptor::eFloat:
{
- float val = reader.readPrimitive<float>();
+ float val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
case data::Descriptor::eDouble:
{
- double val = reader.readPrimitive<double>();
+ double val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
case data::Descriptor::eString:
{
- std::string val = reader.readPrimitive<std::string>();
+ std::string val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
case data::Descriptor::eBool:
{
- bool val = reader.readPrimitive<bool>();
+ bool val;
+ reader.readEndPrimitive(val);
writer.writePrimitive(val);
break;
}
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 5fff9e81c..9e22a2acd 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
@@ -116,11 +116,14 @@ namespace armarx::aron::dataIO
}
}
- ElementTypename getNextElementAndIncreaseCnt()
+ void increaseCounter()
{
- ElementTypename next = getNextElement();
this->currentIndex++;
- return next;
+ }
+
+ unsigned int getCurrentIndex() const
+ {
+ return currentIndex;
}
protected:
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 22eabe145..7c1a4bd02 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
@@ -34,47 +34,46 @@
namespace armarx::aron::dataIO::reader
{
- NavigatorReader::NavigatorReader(const datanavigator::NavigatorPtr& n) :
- input(n)
+ NavigatorReader::NavigatorReader(const data::AronDictPtr& n) :
+ NavigatorReader(datanavigator::DictNavigator::DynamicCastAndCheck(datanavigator::Navigator::FromAronData(n)))
{
}
- NavigatorReader::NavigatorReader(const data::AronDataPtr& n) :
- input(datanavigator::Navigator::FromAronData(n))
+ NavigatorReader::NavigatorReader(const datanavigator::DictNavigatorPtr& n) :
+ input(n)
{
+ auto current_nav_casted = datanavigator::DictNavigator::DynamicCastAndCheck(input);
+ auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eDict, current_nav_casted);
+ stack.push(newToken);
}
- datanavigator::NavigatorPtr NavigatorReader::getNextAndIncrease()
+ // Containers
+ ReaderInterface::ReadStartDictReturnType NavigatorReader::readStartDict()
{
- if (!readInitialStart)
+ if (!readFirstStartDict)
{
- readInitialStart = true;
- return input;
+ // we already added in constructor
+ readFirstStartDict = true;
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getElement();
+ int c = current_nav->childrenSize();
+ return {c, true};
}
+
auto lastToken = stack.top();
- return lastToken->getNextElementAndIncreaseCnt();
- }
- datanavigator::NavigatorPtr NavigatorReader::getNext()
- {
- if (!readInitialStart)
+ auto current_nav = lastToken->getNextElement();
+ if (!current_nav)
{
- readInitialStart = true;
- return input;
+ lastToken->increaseCounter();
+ return {0, false};
}
- auto lastToken = stack.top();
- return lastToken->getNextElement();
- }
- // Containers
- int NavigatorReader::readStartDict()
- {
- auto current_nav = getNextAndIncrease();
auto current_nav_casted = datanavigator::DictNavigator::DynamicCastAndCheck(current_nav);
int c = current_nav->childrenSize();
auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eDict, current_nav_casted);
stack.push(newToken);
- return c;
+ return {c, true};
}
bool NavigatorReader::readEndDict()
@@ -82,22 +81,39 @@ namespace armarx::aron::dataIO::reader
auto token = stack.top();
datanavigator::DictNavigator::DynamicCastAndCheck(token->getElement());
+ std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
+
if (token->finishedElement())
{
stack.pop();
+
+ if (!stack.empty())
+ {
+ auto lastToken = stack.top();
+ lastToken->increaseCounter();
+ }
+
return true;
}
return false;
}
- int NavigatorReader::readStartList()
+ ReaderInterface::ReadStartListReturnType NavigatorReader::readStartList()
{
- auto current_nav = getNextAndIncrease();
+ auto lastToken = stack.top();
+
+ auto current_nav = lastToken->getNextElement();
+ if (!current_nav)
+ {
+ lastToken->increaseCounter();
+ return {0, false};
+ }
+
auto current_nav_casted = datanavigator::ListNavigator::DynamicCastAndCheck(current_nav);
int c = current_nav->childrenSize();
auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eList, current_nav_casted);
stack.push(newToken);
- return c;
+ return {c, true};
}
bool NavigatorReader::readEndList()
@@ -105,96 +121,136 @@ namespace armarx::aron::dataIO::reader
auto token = stack.top();
datanavigator::ListNavigator::DynamicCastAndCheck(token->getElement());
+ std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
if (token->finishedElement())
{
stack.pop();
+
+ auto lastToken = stack.top();
+ lastToken->increaseCounter();
+
return true;
}
return false;
}
// Complex Data
- std::tuple<std::vector<int>, std::string> NavigatorReader::readStartNDArray()
+ ReaderInterface::ReadStartNDArrayReturnType NavigatorReader::readStartNDArray()
{
- datanavigator::NavigatorPtr nav = getNext();
- datanavigator::NDArrayNavigatorPtr casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(nav);
- return {casted->getDimensions(), casted->getType()};
+ auto lastToken = stack.top();
+
+ auto current_nav = lastToken->getNextElement();
+ if (!current_nav)
+ {
+ lastToken->increaseCounter();
+ return {{}, "", false};
+ }
+ datanavigator::NDArrayNavigatorPtr casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(current_nav);
+ return {casted->getDimensions(), casted->getType(), true};
}
- bool NavigatorReader::readEndNDArray(unsigned char* data)
+ void NavigatorReader::readEndNDArray(unsigned char* data)
{
if (data == NULL)
{
throw error::AronException("NavigatorReader", "readEndNDArray", "The corresponding data pointer of an complex aron ptr is NULL.");
}
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(nav);
+
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(current_nav);
std::vector<int> dims = casted->getDimensions();
memcpy(data, casted->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
- return true;
}
// Read primitives
- void NavigatorReader::readPrimitive(int& t)
+ ReaderInterface::ReadPrimitiveReturnType NavigatorReader::readStartPrimitive()
+ {
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ if (!current_nav)
+ {
+ lastToken->increaseCounter();
+ return {false};
+ }
+ return {true};
+ }
+
+ void NavigatorReader::readEndPrimitive(int& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::IntNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::IntNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
- void NavigatorReader::readPrimitive(long& t)
+ void NavigatorReader::readEndPrimitive(long& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::LongNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::LongNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
- void NavigatorReader::readPrimitive(float& t)
+ void NavigatorReader::readEndPrimitive(float& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::FloatNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::FloatNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
- void NavigatorReader::readPrimitive(double& t)
+ void NavigatorReader::readEndPrimitive(double& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::DoubleNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::DoubleNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
- void NavigatorReader::readPrimitive(std::string& t)
+ void NavigatorReader::readEndPrimitive(std::string& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::StringNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::StringNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
- void NavigatorReader::readPrimitive(bool& t)
+ void NavigatorReader::readEndPrimitive(bool& t)
{
- auto nav = getNextAndIncrease();
- auto casted = datanavigator::BoolNavigator::DynamicCastAndCheck(nav);
+ auto lastToken = stack.top();
+ auto current_nav = lastToken->getNextElement();
+ lastToken->increaseCounter();
+
+ auto casted = datanavigator::BoolNavigator::DynamicCastAndCheck(current_nav);
t = casted->getValue();
}
std::string NavigatorReader::readKey()
{
auto token = stack.top();
- return token->getCurrentKey();
+ auto s = token->getCurrentKey();
+ std::cout << "Read key: " << s << std::endl;
+ return s;
}
- bool NavigatorReader::loadMember(const std::string& k)
+ void NavigatorReader::loadMember(const std::string& k)
{
+ std::cout << "Loading member " << k << std::endl;
auto token = stack.top();
- if (token->hasKey(k))
- {
- if (token->hasNextElement())
- {
- token->setCurrentKey(k);
- return true;
- }
- }
- return false;
+ token->setCurrentKey(k);
}
// 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 d5365a888..547f6be8f 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
@@ -45,36 +45,34 @@ namespace armarx::aron::dataIO::reader
// constructors
NavigatorReader() = delete;
- NavigatorReader(const datanavigator::NavigatorPtr& n);
- NavigatorReader(const data::AronDataPtr& n);
+ NavigatorReader(const datanavigator::DictNavigatorPtr& n);
+ NavigatorReader(const data::AronDictPtr& n);
- virtual int readStartDict() override;
+ virtual ReadStartDictReturnType readStartDict() override;
virtual bool readEndDict() override;
- virtual int readStartList() override;
+
+ virtual ReadStartListReturnType readStartList() override;
virtual bool readEndList() override;
- virtual std::tuple<std::vector<int>, std::string> readStartNDArray() override;
- virtual bool readEndNDArray(unsigned char*) override;
+ virtual ReadStartNDArrayReturnType readStartNDArray() override;
+ virtual void readEndNDArray(unsigned char*) override;
- virtual void readPrimitive(int&) override;
- virtual void readPrimitive(long&) override;
- virtual void readPrimitive(float&) override;
- virtual void readPrimitive(double&) override;
- virtual void readPrimitive(std::string&) override;
- virtual void readPrimitive(bool&) override;
+ virtual ReadPrimitiveReturnType readStartPrimitive() override;
+ virtual void readEndPrimitive(int&) override;
+ virtual void readEndPrimitive(long&) override;
+ virtual void readEndPrimitive(float&) override;
+ virtual void readEndPrimitive(double&) override;
+ virtual void readEndPrimitive(std::string&) override;
+ virtual void readEndPrimitive(bool&) override;
virtual std::string readKey() override;
- virtual bool loadMember(const std::string&) override;
+ virtual void loadMember(const std::string&) override;
virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
private:
- datanavigator::NavigatorPtr getNext();
- datanavigator::NavigatorPtr getNextAndIncrease();
-
- private:
+ bool readFirstStartDict = false;
datanavigator::NavigatorPtr input;
- bool readInitialStart = false;
std::stack<NavigatorReaderTokenPtr> stack;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
index 7f4bf59d7..a11b61613 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
@@ -77,6 +77,11 @@ namespace armarx::aron::dataIO::reader
datanavigator::NavigatorPtr getNextElement() const override
{
+ if (!hasNextElement())
+ {
+ return nullptr;
+ }
+
switch (descriptor)
{
case data::Descriptor::eDict:
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 43a308298..95d3ecad6 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
@@ -34,45 +34,43 @@
namespace armarx::aron::dataIO::reader
{
- NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
- input(n)
+ NlohmannJSONReader::NlohmannJSONReader(const std::string& n) :
+ NlohmannJSONReader(nlohmann::json::parse(n))
{
}
- NlohmannJSONReader::NlohmannJSONReader(const std::string& n) :
- input(nlohmann::json::parse(n))
+ NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
+ input(n)
{
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eDict, n);
+ stack.push(newToken);
}
- nlohmann::json NlohmannJSONReader::getNextAndIncrease()
+ ReaderInterface::ReadStartDictReturnType NlohmannJSONReader::readStartDict()
{
- if (!readInitialStart)
+ if (!readFirstStartDict)
{
- readInitialStart = true;
- return input;
+ // we already added in constructor
+ readFirstStartDict = true;
+ auto lastToken = stack.top();
+ auto current_json = lastToken->getElement();
+ int c = current_json.size();
+ return {c, true};
}
- NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getNextElementAndIncreaseCnt();
- }
- nlohmann::json NlohmannJSONReader::getNext()
- {
- if (!readInitialStart)
+ auto lastToken = stack.top();
+
+ auto current_json = lastToken->getNextElement();
+ if (current_json.is_null())
{
- readInitialStart = true;
- return input;
+ lastToken->increaseCounter();
+ return {0, false};
}
- NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getNextElement();
- }
- int NlohmannJSONReader::readStartDict()
- {
- nlohmann::json current_json = getNextAndIncrease();
int c = current_json.size();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eDict, current_json);
stack.push(newToken);
- return c;
+ return {c, true};
}
bool NlohmannJSONReader::readEndDict()
@@ -83,18 +81,33 @@ namespace armarx::aron::dataIO::reader
if (token->finishedElement())
{
stack.pop();
+
+ if (!stack.empty())
+ {
+ auto lastToken = stack.top();
+ lastToken->increaseCounter();
+ }
+
return true;
}
return false;
}
- int NlohmannJSONReader::readStartList()
+ ReaderInterface::ReadStartListReturnType NlohmannJSONReader::readStartList()
{
- nlohmann::json current_json = getNextAndIncrease();
+ auto lastToken = stack.top();
+
+ auto current_json = lastToken->getNextElement();
+ if (current_json.is_null())
+ {
+ lastToken->increaseCounter();
+ return {0, false};
+ }
+
int c = current_json.size();
auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eList, current_json);
stack.push(newToken);
- return c;
+ return {c, true};
}
bool NlohmannJSONReader::readEndList()
@@ -105,67 +118,105 @@ namespace armarx::aron::dataIO::reader
if (token->finishedElement())
{
stack.pop();
+
+ auto lastToken = stack.top();
+ lastToken->increaseCounter();
+
return true;
}
return false;
}
// Complex Data
- std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readStartNDArray()
+ ReaderInterface::ReadStartNDArrayReturnType NlohmannJSONReader::readStartNDArray()
{
- nlohmann::json j = getNext();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return {dims, type};
+ auto lastToken = stack.top();
+
+ auto current_json = lastToken->getNextElement();
+ if (current_json.is_null())
+ {
+ lastToken->increaseCounter();
+ return {{}, "", false};
+ }
+ std::vector<int> dims = current_json[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = current_json[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return {dims, type, true};
}
- bool NlohmannJSONReader::readEndNDArray(unsigned char* data)
+ void NlohmannJSONReader::readEndNDArray(unsigned char* data)
{
if (data == NULL)
{
throw error::AronException("NlohmannJSONReader", "readEndNDArray", "The corresponding data pointer of an complex aron ptr is NULL.");
}
- nlohmann::json j = getNextAndIncrease();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::vector<unsigned char> d = j[io::Data::READER_WRITER_NDARRAY_DATA_SLUG];
+
+ auto lastToken = stack.top();
+
+ auto current_json = lastToken->getNextElement();
+ std::vector<int> dims = current_json[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::vector<unsigned char> d = current_json[io::Data::READER_WRITER_NDARRAY_DATA_SLUG];
memcpy(data, d.data(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
- return true;
}
// Read primitives
- void NlohmannJSONReader::readPrimitive(int& t)
+ ReaderInterface::ReadPrimitiveReturnType NlohmannJSONReader::readStartPrimitive()
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+
+ auto current_json = lastToken->getNextElement();
+ if (current_json.is_null())
+ {
+ lastToken->increaseCounter();
+ return {false};
+ }
+ return {true};
+ }
+
+ void NlohmannJSONReader::readEndPrimitive(int& t)
+ {
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
- void NlohmannJSONReader::readPrimitive(long& t)
+ void NlohmannJSONReader::readEndPrimitive(long& t)
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
- void NlohmannJSONReader::readPrimitive(float& t)
+ void NlohmannJSONReader::readEndPrimitive(float& t)
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
- void NlohmannJSONReader::readPrimitive(double& t)
+ void NlohmannJSONReader::readEndPrimitive(double& t)
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
- void NlohmannJSONReader::readPrimitive(std::string& t)
+ void NlohmannJSONReader::readEndPrimitive(std::string& t)
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
- void NlohmannJSONReader::readPrimitive(bool& t)
+ void NlohmannJSONReader::readEndPrimitive(bool& t)
{
- nlohmann::json j = getNextAndIncrease();
+ auto lastToken = stack.top();
+ auto j = lastToken->getNextElement();
+ lastToken->increaseCounter();
t = j;
}
@@ -175,18 +226,10 @@ namespace armarx::aron::dataIO::reader
return token->getCurrentKey();
}
- bool NlohmannJSONReader::loadMember(const std::string& k)
+ void NlohmannJSONReader::loadMember(const std::string& k)
{
auto token = stack.top();
- if (token->hasKey(k))
- {
- if (token->hasNextElement())
- {
- token->setCurrentKey(k);
- return true;
- }
- }
- return false;
+ token->setCurrentKey(k);
}
// 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 03202f7be..0285398f2 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
@@ -46,33 +46,31 @@ namespace armarx::aron::dataIO::reader
NlohmannJSONReader(const nlohmann::json& n);
NlohmannJSONReader(const std::string& n);
- virtual int readStartDict() override;
+ virtual ReadStartDictReturnType readStartDict() override;
virtual bool readEndDict() override;
- virtual int readStartList() override;
+
+ virtual ReadStartListReturnType readStartList() override;
virtual bool readEndList() override;
- virtual std::tuple<std::vector<int>, std::string> readStartNDArray() override;
- virtual bool readEndNDArray(unsigned char*) override;
+ virtual ReadStartNDArrayReturnType readStartNDArray() override;
+ virtual void readEndNDArray(unsigned char*) override;
- virtual void readPrimitive(int&) override;
- virtual void readPrimitive(long&) override;
- virtual void readPrimitive(float&) override;
- virtual void readPrimitive(double&) override;
- virtual void readPrimitive(std::string&) override;
- virtual void readPrimitive(bool&) override;
+ virtual ReadPrimitiveReturnType readStartPrimitive() override;
+ virtual void readEndPrimitive(int&) override;
+ virtual void readEndPrimitive(long&) override;
+ virtual void readEndPrimitive(float&) override;
+ virtual void readEndPrimitive(double&) override;
+ virtual void readEndPrimitive(std::string&) override;
+ virtual void readEndPrimitive(bool&) override;
virtual std::string readKey() override;
- virtual bool loadMember(const std::string&) override;
+ virtual void loadMember(const std::string&) override;
virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
private:
- nlohmann::json getNext();
- nlohmann::json getNextAndIncrease();
-
- private:
+ bool readFirstStartDict = false;
nlohmann::json input;
- bool readInitialStart = false;
std::stack<NlohmannJSONReaderTokenPtr> stack;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
index 29dccb820..7711670dd 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
@@ -120,6 +120,11 @@ namespace armarx::aron::dataIO::reader
nlohmann::json getNextElement() const override
{
+ if (!hasNextElement())
+ {
+ return nlohmann::json();
+ }
+
switch (descriptor)
{
case data::Descriptor::eDict:
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
index b5be280a8..d93a54ff7 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
@@ -35,11 +35,23 @@ namespace armarx::aron::dataIO
void Visitor::VisitAndSetup(WriterInterface& writer, const datanavigator::NavigatorPtr& aron)
{
+ if (!aron)
+ {
+ writer.writeNull();
+ return;
+ }
+
VisitAndSetup(writer, aron->getResult());
}
void Visitor::VisitAndSetup(WriterInterface& writer, const data::AronDataPtr& aron)
{
+ if (!aron)
+ {
+ writer.writeNull();
+ return;
+ }
+
data::Descriptor desc = Resolver::GetDescriptor(aron);
switch (desc)
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/NavigatorFactory.h b/source/RobotAPI/libraries/aron/core/navigator/NavigatorFactory.h
index 4463de455..f66f163ee 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/NavigatorFactory.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/NavigatorFactory.h
@@ -47,6 +47,5 @@ namespace armarx::aron
virtual Output create(const Input&, const Path&) const = 0;
virtual Output createSpecific(const Input&, const Path&) const = 0;
- virtual Output createNull(const EnumT) const = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.cpp
index 9215638ff..6a4a62854 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.cpp
@@ -43,67 +43,18 @@ namespace armarx::aron::datanavigator
};
#undef RUN_ARON_MACRO
- auto typeDescriptor = Resolver::GetDescriptor(aron);
- auto factory_iterator = Factories.find(typeDescriptor);
- if (factory_iterator == Factories.end())
+ if (!aron)
{
- throw error::AronException("NavigatorFactory", "create", "Cannot find the desired factory for input: " + data::DESCRIPTOR_TO_STRING(typeDescriptor) + ". Cannot create navigator", path);
+ return nullptr;
}
- return factory_iterator->second->createSpecific(aron, path);
- }
- NavigatorPtr NavigatorFactory::createNull(const data::Descriptor desc) const
- {
- switch (desc)
+ auto dataDescriptor = Resolver::GetDescriptor(aron);
+ auto factory_iterator = Factories.find(dataDescriptor);
+ if (factory_iterator == Factories.end())
{
- case data::Descriptor::eDict:
- {
- datanavigator::DictNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eList:
- {
- datanavigator::ListNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eNDArray:
- {
- datanavigator::NDArrayNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eInt:
- {
- datanavigator::IntNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eLong:
- {
- datanavigator::LongNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eFloat:
- {
- datanavigator::FloatNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eDouble:
- {
- datanavigator::DoubleNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eString:
- {
- datanavigator::StringNavigatorPtr aron = nullptr;
- return aron;
- }
- case data::Descriptor::eBool:
- {
- datanavigator::BoolNavigatorPtr aron = nullptr;
- return aron;
- }
- default:
- throw error::DescriptorNotValidException("NavigatorFactory", "createNull", "Received invalid descriptor to create NULL.", desc);
+ throw error::AronException("NavigatorFactory", "create", "Cannot find the desired factory for input: " + data::DESCRIPTOR_TO_STRING(dataDescriptor) + ". Cannot create navigator", path);
}
+ return factory_iterator->second->createSpecific(aron, path);
}
NavigatorPtr NavigatorFactory::createSpecific(const data::AronDataPtr&, const Path& p) const
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h b/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h
index 924db3652..5e92b4092 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h
@@ -46,7 +46,6 @@ namespace armarx::aron::datanavigator
NavigatorFactory() = default;
virtual NavigatorPtr create(const data::AronDataPtr&, const Path&) const override;
virtual NavigatorPtr createSpecific(const data::AronDataPtr&, const Path&) const override;
- virtual NavigatorPtr createNull(const data::Descriptor) const override;
};
// Factories
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.cpp
index b1dd72b21..f0375363b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.cpp
@@ -51,11 +51,6 @@ namespace armarx::aron::typenavigator
return factory_iterator->second->createSpecific(aron, path);
}
- typenavigator::NavigatorPtr NavigatorFactory::createNull(const type::Descriptor) const
- {
- return nullptr;
- }
-
NavigatorPtr NavigatorFactory::createSpecific(const type::AronTypePtr&, const Path& p) const
{
throw error::AronException("NavigatorFactory", "createSpecific", "Called disallowed method of an NavigatorFactory. Use child class instead!", p);
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h b/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h
index 88783e884..e470407db 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h
@@ -46,7 +46,6 @@ namespace armarx::aron::typenavigator
NavigatorFactory() = default;
virtual typenavigator::NavigatorPtr create(const type::AronTypePtr&, const Path&) const override;
virtual typenavigator::NavigatorPtr createSpecific(const type::AronTypePtr&, const Path&) const override;
- virtual typenavigator::NavigatorPtr createNull(const type::Descriptor) const override;
};
// Factories
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index f9e33b547..a2d07c93f 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -95,23 +95,24 @@ void runTestWithInstances(T& k1, T& k2)
std::cout << "\t getting type 1" << std::endl;
typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
type::AronObjectPtr k1_type = k1_type_nav->toAronObjectPtr();
- BOOST_CHECK_NE(k1_type.get(), nullptr);
+ BOOST_CHECK_EQUAL((bool) k1_type, true);
std::cout << "\t getting type 2" << std::endl;
typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toAronType();
type::AronObjectPtr k2_type = k2_type_nav->toAronObjectPtr();
- BOOST_CHECK_NE(k2_type.get(), nullptr);
+ BOOST_CHECK_EQUAL((bool) k2_type, true);
- std::cout << "\t getting aron 1" << std::endl;
datanavigator::DictNavigatorPtr k1_aron_nav = k1.toAron();
- data::AronDictPtr k1_aron = k1_aron_nav->toAronDictPtr();
- BOOST_CHECK_NE(k1_aron.get(), nullptr);
std::cout << "\t initialize aron 1 randomly" << std::endl;
r.initializeRandomly(k1_aron_nav, k1_type_nav);
- //std::cout << "K Aron:" << std::endl;
- //std::cout << AronDebug::AronDataPtrToString(k_aron) << std::endl;
+ std::cout << "\t getting aron 1" << std::endl;
+ data::AronDictPtr k1_aron = k1_aron_nav->toAronDictPtr();
+ BOOST_CHECK_EQUAL((bool) k1_aron, true);
+
+ std::cout << "K1 Aron:" << std::endl;
+ std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
std::cout << "\t setting aron 2 from aron 1" << std::endl;
k2.fromAron(k1_aron);
@@ -119,7 +120,7 @@ void runTestWithInstances(T& k1, T& k2)
std::cout << "\t getting aron 2" << std::endl;
datanavigator::DictNavigatorPtr k2_aron_nav = k2.toAron();
data::AronDictPtr k2_aron = k2_aron_nav->toAronDictPtr();
- BOOST_CHECK_NE(k2_aron.get(), nullptr);
+ BOOST_CHECK_EQUAL((bool) k2_aron, true);
//std::cout << "K2 Aron:" << std::endl;
//std::cout << AronDebug::AronDataPtrToString(k2_aron) << std::endl;
@@ -128,6 +129,12 @@ void runTestWithInstances(T& k1, T& k2)
k1.fromAron(k2_aron_nav);
+ //std::cout << "K1 Aron:" << std::endl;
+ //std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
+
+ //std::cout << "K2 Aron:" << std::endl;
+ //std::cout << armarx::aron::Debug::AronDataPtrToString(k2_aron) << std::endl;
+
BOOST_CHECK_EQUAL((k1 == k2), true);
@@ -145,7 +152,6 @@ void runTestWithInstances(T& k1, T& k2)
k1.fromAron(k1_aron);
-
std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k1;
armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k2;
@@ -260,20 +266,16 @@ BOOST_AUTO_TEST_CASE(AronObjectTest)
BOOST_AUTO_TEST_CASE(AronImageTest)
{
std::cout << "Running Image test" << std::endl;
- IVTCByteImageTest i;
- IVTCByteImageTest i2;
- runTestWithInstances<IVTCByteImageTest>(i, i2);
-}
-
-/*BOOST_AUTO_TEST_CASE(AronImageChangeSizeTest)
-{
- std::cout << "Running Image test with changed sizes" << std::endl;
IVTCByteImageTest ii;
IVTCByteImageTest ii2;
- ii.the_ivt_image.Set(100, 100, ii.the_ivt_image.type);
- ii2.the_ivt_image.Set(10, 10, ii.the_ivt_image.type);
+ ii.the_grayscale_image->Set(100, 100, CByteImage::eGrayScale);
+ ii2.the_grayscale_image->Set(10, 10, CByteImage::eGrayScale);
+
+ ii.the_rgb_image->Set(50, 50, CByteImage::eRGB24);
+ ii2.the_rgb_image->Set(10, 10, CByteImage::eRGB24);
+
runTestWithInstances<IVTCByteImageTest>(ii, ii2);
-}*/
+}
BOOST_AUTO_TEST_CASE(AronEigenMatrixTest)
{
@@ -288,6 +290,12 @@ BOOST_AUTO_TEST_CASE(AronOpenCVTest)
std::cout << "Running OpenCVMat test" << std::endl;
OpenCVMatTest ocv;
OpenCVMatTest ocv2;
+
+ ocv.the_2d_opencv_matrix = cv::Mat(2, 2, CV_64FC4);
+ ocv.the_3d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2}), CV_64FC4);
+ ocv.the_4d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2}), CV_64FC4);
+ ocv.the_5d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2, 2}), CV_64FC4);
+
runTestWithInstances<OpenCVMatTest>(ocv, ocv2);
}
@@ -296,30 +304,16 @@ BOOST_AUTO_TEST_CASE(AronPCLPointCloudTest)
std::cout << "Running PCLPointCloud test" << std::endl;
PointCloudTest pc;
PointCloudTest pc2;
+
+ pc.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(20, 20);
+ pc.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(20, 20);
+
+ pc2.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(50, 50);
+ pc2.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(50, 50);
+
runTestWithInstances<PointCloudTest>(pc, pc2);
}
-/*
-BOOST_AUTO_TEST_CASE(AronTests)
-{
- initialize_random();
-
- std::cout << "Running (Raphael) Trivial test" << std::endl;
- AronTrivialDataWithoutCodeGeneration rt1;
- AronTrivialDataWithoutCodeGeneration rt2;
- runTestWithInstances<AronTrivialDataWithoutCodeGeneration>(rt1, rt2);
-
- std::cout << "Running (Raphael) Simple test" << std::endl;
- AronSimpleDataWithoutCodeGeneration rs1;
- AronSimpleDataWithoutCodeGeneration rs2;
- runTestWithInstances<AronSimpleDataWithoutCodeGeneration>(rs1, rs2);
-
- std::cout << "Running (Raphael) Nested test" << std::endl;
- AronNestedDataWithoutCodeGeneration rn1;
- AronNestedDataWithoutCodeGeneration rn2;
- runTestWithInstances<AronNestedDataWithoutCodeGeneration>(rn1, rn2);
-}*/
-
BOOST_AUTO_TEST_CASE(AronEigenQuaternionTest)
{
std::cout << "Running EigenQuaternion test" << std::endl;
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
index 9c7462aa0..48cc19e61 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
@@ -51,6 +51,16 @@
<armarx::OptionalTestElement optional="ja"/>
</ObjectChild>
+ <ObjectChild key='some_list_with_optional_list'>
+ <List optional="ja">
+ <List optional="ja">
+ <Float optional="ja" />
+ </List>
+ </List>
+ </ObjectChild>
+
+
+
</Object>
</GenerateTypes>
</AronTypeDefinition>
--
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