Merge remote-tracking branch 'origin/master' into fabianpk

source/RobotAPI/applications/AronCodeGenerator/main.cpp

@@ -177,7 +177,39 @@ int main(int argc, char* argv[])
             }
         }
 
-        auto w = CppWriterPtr(new CppWriter());
+        std::time_t current_time = std::time(0);
+        std::tm* now = std::localtime(&current_time);
+        std::string current_year = std::to_string(now->tm_year + 1900);
+
+        std::string fileDoc = std::string("* This file is part of ArmarX. \n") +
+"* \n" +
+"* Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n" +
+"* Karlsruhe Institute of Technology (KIT), all rights reserved. \n" +
+"* \n" +
+"* ArmarX is free software; you can redistribute it and/or modify \n" +
+"* it under the terms of the GNU General Public License version 2 as \n" +
+"* published by the Free Software Foundation. \n" +
+"* \n" +
+"* ArmarX is distributed in the hope that it will be useful, but \n" +
+"* WITHOUT ANY WARRANTY; without even the implied warranty of \n" +
+"* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n" +
+"* GNU General Public License for more details. \n" +
+"* \n" +
+"* You should have received a copy of the GNU General Public License \n" +
+"* along with this program. If not, see <http://www.gnu.org/licenses/>. \n" +
+"* \n" +
+"* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt \n" +
+"*             GNU General Public License \n" +
+"* *********************************************************************** \n" +
+"* WARNING: This file is autogenerated. \n" +
+"* Original file: " + filename + " \n" +
+"* Please do not edit since your changes may be overwritten on the next generation \n" +
+"* If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n" +
+"* ***********************************************************************";
+
+        auto w = CppWriterPtr(new CppWriter(true, fileDoc));
+        w->header.line();
+        w->header.line();
 
         // Generate enums at top of generated header file
         std::vector<MetaEnumPtr> enums = writer.getTypeEnums();
@@ -186,7 +218,12 @@ int main(int argc, char* argv[])
             std::cout << "Now exporting enums..." << std::endl;
         }
 
+        w->body.line("/*************************************************************************");
+        w->body.line(" * ALL GENERATED ENUMS ***************************************************");
+        w->body.line(" ************************************************************************/");
         MetaEnum::Write(enums, w);
+        w->body.line();
+        w->body.line();
 
         std::string enum_file_generation_content = w->getString();
 
@@ -208,7 +245,12 @@ int main(int argc, char* argv[])
             std::cout << "Now exporting classes..." << std::endl;
         }
 
+        w->body.line("/* ************************************************************************");
+        w->body.line(" * ALL GENERATED CLASSES *************************************************");
+        w->body.line(" * ***********************************************************************/");
         CppClass::Write(classes, w);
+        w->body.line();
+        w->body.line();
 
         std::string class_file_generation_content = simox::alg::remove_prefix(w->getString(), enum_file_generation_content);
 
@@ -223,39 +265,7 @@ int main(int argc, char* argv[])
             exit(1);
         }
 
-        std::time_t current_time = std::time(0);
-        std::tm* now = std::localtime(&current_time);
-        std::string current_year = std::to_string(now->tm_year + 1900);
-        std::string new_file_header = "\
-/* \n\
- * This file is part of ArmarX. \n\
- * \n\
- * Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n\
- * Karlsruhe Institute of Technology (KIT), all rights reserved. \n\
- * \n\
- * ArmarX is free software; you can redistribute it and/or modify \n\
- * it under the terms of the GNU General Public License version 2 as \n\
- * published by the Free Software Foundation. \n\
- * \n\
- * ArmarX is distributed in the hope that it will be useful, but \n\
- * WITHOUT ANY WARRANTY; without even the implied warranty of \n\
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n\
- * GNU General Public License for more details. \n\
- * \n\
- * You should have received a copy of the GNU General Public License \n\
- * along with this program. If not, see <http://www.gnu.org/licenses/>. \n\
- * \n\
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt \n\
- *             GNU General Public License \n\
- ************************************************************************* \n\
- * WARNING: This file is autogenerated. \n\
- * Original file: " + filename + " \n\
- * Please do not edit since your changes may be overwritten on the next generation \n\
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n\
- ************************************************************************* \n\
- */\n\n\n";
-
-        std::string new_file_full_content = new_file_header + w->getString();
+        std::string new_file_full_content = w->getString();
 
         std::string new_name_with_extension = input_file.filename().replace_extension("").string();
         new_name_with_extension += ".aron.generated.h";

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h

@@ -76,10 +76,18 @@ namespace armarx::aron::codegenerator
         std::vector<MetaEnumPtr> typeEnums;
 
         std::string producerName;
-        std::vector<codegenerator::WriterInfo> dataWriters;
-        std::vector<codegenerator::ReaderInfo> dataReaders;
-        std::vector<codegenerator::StaticReaderInfo> staticDataReaders;
-        std::vector<codegenerator::WriterInfo> initialTypeWriters;
+        std::vector<codegenerator::WriterInfo> dictDataWriters;
+        std::vector<codegenerator::WriterInfo> intEnumDataWriters;
+
+        std::vector<codegenerator::ReaderInfo> dictDataReaders;
+        std::vector<codegenerator::ReaderInfo> intEnumDataReaders;
+
+        std::vector<codegenerator::StaticReaderInfo> staticDictDataReaders;
+        std::vector<codegenerator::StaticReaderInfo> staticIntEnumDataReaders;
+
+        std::vector<codegenerator::WriterInfo> initialDictTypeWriters;
+        std::vector<codegenerator::WriterInfo> initialIntEnumTypeWriters;
+
         std::vector<std::string> additionalIncludes;
     };
 }

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp

@@ -317,7 +317,7 @@ namespace armarx::aron::codegenerator::cpp
         doc << "@brief " << info.methodName << "() - This method returns a new data from the member data types using a writer implementation. \n";
         doc << "@return - the result of the writer implementation";
 
-        CppMethodPtr m = CppMethodPtr(new CppMethod(info.returnType + " " + info.methodName + "() const", doc.str()));
+        CppMethodPtr m = CppMethodPtr(new CppMethod(info.returnType + " " + info.methodName + "() const" + (info.override ? " override" : ""), doc.str()));
         m->addLine(info.writerClassType + " writer;");
         m->addLine("return " + info.enforceConversion + "(this->write(writer))" + info.enforceMemberAccess + ";");
 
@@ -331,7 +331,7 @@ namespace armarx::aron::codegenerator::cpp
         doc << "@brief " << info.methodName << " - This method sets the struct members to new values given in a reader implementation. \n";
         doc << "@return - nothing";
 
-        CppMethodPtr m = CppMethodPtr(new CppMethod("void " + info.methodName + "(const " + info.argumentType + "& input)", doc.str()));
+        CppMethodPtr m = CppMethodPtr(new CppMethod("void " + info.methodName + "(const " + info.argumentType + "& input)" + (info.override ? " override" : ""), doc.str()));
         m->addLine(info.readerClassType + " reader;");
         m->addLine("this->read(reader, " + info.enforceConversion + "(input)" + info.enforceMemberAccess + ");");
 
@@ -395,9 +395,9 @@ namespace armarx::aron::codegenerator::cpp
         return {field};
     }
 
-    std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCtorInitializers(const std::string&) const
+    std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCtorInitializers(const std::string& name) const
     {
-        return {{}, false};
+        return {{{name, "{}"}}, false};
     }
 
     CppBlockPtr Generator::getCtorBlock(const std::string&) const
@@ -408,7 +408,7 @@ namespace armarx::aron::codegenerator::cpp
     std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCopyCtorInitializers(const std::string& name) const
     {
         const auto& t = getType();
-        if (t.getMaybe() == type::Maybe::UNIQUE_PTR || t.getMaybe() == type::Maybe::RAW_PTR)
+        if (t.getMaybe() == type::Maybe::UNIQUE_PTR) // unique ptrs cant be copied
         {
             return {{{name, ARON_OTHER_ACCESSOR + "." + name + " ? " + resolveMaybeGenerator("*" + ARON_OTHER_ACCESSOR + "." + name) + " : nullptr"}}, true};
         }

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp

@@ -55,6 +55,8 @@ namespace armarx::aron::codegenerator::cpp::generator
         // add legacy typedef
         fields.push_back(std::make_shared<CppField>("using", std::string(IMPL_ENUM), simox::alg::to_lower(className) + "_details::Enum", "Legacy typedef of enum"));
 
+        ARMARX_CHECK(type.getAcceptedValueMap().size() > 0);
+
         enum_to_name << "{" << std::endl;
         name_to_enum << "{" << std::endl;
         enum_to_value << "{" << std::endl;
@@ -81,7 +83,7 @@ namespace armarx::aron::codegenerator::cpp::generator
         fields.push_back(std::make_shared<CppField>("static inline const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str(), "Mapping enum values to a int value"));
         fields.push_back(std::make_shared<CppField>("static inline const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str(), "Mapping int values to a enum"));
 
-        fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", "", "The current value of the enum object"));
+        fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", type.getAcceptedValueNames()[0], "The current value of the enum object"));
 
         return fields;
     }
@@ -162,11 +164,6 @@ namespace armarx::aron::codegenerator::cpp::generator
         return c;
     }*/
 
-    std::pair<std::vector<std::pair<std::string, std::string>>, bool> IntEnumClass::getCopyCtorInitializers(const std::string&) const
-    {
-        return {{{"value", ARON_OTHER_ACCESSOR + ".value"}}, false};
-    }
-
     CppCtorPtr IntEnumClass::toEnumCtor(const std::string& name) const
     {
         CppCtorPtr c = std::make_shared<CppCtor>(name + "(const " + std::string(IMPL_ENUM) + " e)");

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h

@@ -43,8 +43,6 @@ namespace armarx::aron::codegenerator::cpp::generator
         // virtual implementations
         std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const final;
 
-        std::pair<std::vector<std::pair<std::string, std::string>>, bool> getCopyCtorInitializers(const std::string&) const final;
-
         CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
         CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
         CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp

@@ -47,7 +47,7 @@ namespace armarx::aron::codegenerator::cpp::generator
     std::vector<std::string> ObjectClass::getRequiredIncludes() const
     {
         std::vector<std::string> ret;
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             (void) key;
             auto child_s = FromAronType(*child);
@@ -59,7 +59,7 @@ namespace armarx::aron::codegenerator::cpp::generator
     std::vector<CppFieldPtr> ObjectClass::getPublicVariableDeclarations(const std::string&) const
     {
         std::vector<CppFieldPtr> fields;
-        for (const auto& [key, member] : type.getMemberTypes())
+        for (const auto& [key, member] : type.getDirectMemberTypes())
         {
             auto member_s = FromAronType(*member);
             std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
@@ -77,7 +77,7 @@ namespace armarx::aron::codegenerator::cpp::generator
             block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetSoft();");
         }
 
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             auto child_s = FromAronType(*child);
             CppBlockPtr b2 = child_s->getResetSoftBlock(key);
@@ -95,7 +95,7 @@ namespace armarx::aron::codegenerator::cpp::generator
             block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetHard();");
         }
 
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             const auto child_s = FromAronType(*child);
             CppBlockPtr b2 = child_s->getResetHardBlock(key);
@@ -127,7 +127,7 @@ namespace armarx::aron::codegenerator::cpp::generator
         }
 
         b->addLine("// members of " + this->getFullInstantiatedCppTypename());
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             const auto child_s = FromAronType(*child);
             std::string child_return_variant;
@@ -176,7 +176,7 @@ namespace armarx::aron::codegenerator::cpp::generator
         }
 
         block_if_data->addLine("// members of " + this->getFullInstantiatedCppTypename());
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             const auto child_s = FromAronType(*child);
             std::string child_return_variant;
@@ -210,7 +210,7 @@ namespace armarx::aron::codegenerator::cpp::generator
 
         block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readDict("+variantAccessor+", "+OBJECT_MEMBERS_ACCESSOR+"); // of top level object " + getInstantiatedCppTypename());
 
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             const auto child_s = FromAronType(*child);
             std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
@@ -230,7 +230,7 @@ namespace armarx::aron::codegenerator::cpp::generator
             block_if_data->addLine("if (not (" + extends_s->getFullInstantiatedCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
             block_if_data->addLineAsBlock("return false;");
         }
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             auto child_s = FromAronType(*child);
             CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
@@ -250,7 +250,7 @@ namespace armarx::aron::codegenerator::cpp::generator
         }
 
         bool anyComplex = false;
-        for (const auto& [key, child] : type.getMemberTypes())
+        for (const auto& [key, child] : type.getDirectMemberTypes())
         {
             auto child_s = FromAronType(*child);
             auto initList = child_s->getCopyCtorInitializers(key);

source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h

@@ -37,6 +37,7 @@ namespace armarx::aron::codegenerator
         std::string include;
         std::string enforceConversion = "";
         std::string enforceMemberAccess = "";
+        bool override = false;
     };
 
 

source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h

@@ -37,5 +37,6 @@ namespace armarx::aron::codegenerator
         std::string include;
         std::string enforceConversion = "";
         std::string enforceMemberAccess = "";
+        bool override = false;
     };
 }

source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt

@@ -106,6 +106,24 @@ armarx_add_test(
         ${Simox_INCLUDE_DIR}
 )
 
+######################
+# ARON CONVERSION TEST
+######################
+armarx_add_test(
+    TEST_NAME
+        aronConversionTest
+    TEST_FILE
+        aronConversionTest.cpp
+    LIBS
+        SimoxUtility  # Simox::SimoxUtility
+        ArmarXCore
+        RobotAPI::aron
+    ARON_FILES
+        aron/HumanPoseTest.xml
+    INCLUDE_DIRECTORIES
+        ${Simox_INCLUDE_DIR}
+)
+
 ######################
 # ARON JSON EXPORT TEST
 ######################

source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp

+/*
+ * 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>
+
+// Test
+#include <RobotAPI/Test.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.aron.generated.h>
+
+
+using namespace armarx;
+using namespace aron;
+
+namespace armarx
+{
+    class HumanPoseBO
+    {
+    public:
+        std::vector<float> jointValues;
+        bool reached;
+
+        HumanPoseBO() = default;
+
+        void fromAron(const HumanPoseTest& aron)
+        {
+            jointValues = aron.jointValues;
+            reached = aron.reached;
+        }
+
+        HumanPoseTest toAron()
+        {
+            HumanPoseTest aron;
+            aron.jointValues = jointValues;
+            aron.reached = reached;
+            return aron;
+        }
+    };
+
+    void fromAron(const HumanPoseTest& aron, HumanPoseBO& bo)
+    {
+        bo.jointValues = aron.jointValues;
+        bo.reached = aron.reached;
+    }
+
+    void toAron(HumanPoseTest& aron, const HumanPoseBO& bo)
+    {
+        aron.jointValues = bo.jointValues;
+        aron.reached = bo.reached;
+    }
+
+    BOOST_AUTO_TEST_CASE(AronAssignmentTest)
+    {
+        armarx::HumanPoseTest aron;
+        aron.jointValues = {1,2,3,4};
+        aron.reached = true;
+
+        HumanPoseBO bo;
+        aron.to(bo);
+
+        BOOST_CHECK((aron.jointValues == bo.jointValues));
+
+        HumanPoseBO bo2;
+        aron.to(bo, &fromAron);
+
+        BOOST_CHECK((aron.jointValues == bo2.jointValues));
+    }
+}

source/RobotAPI/libraries/aron/core/CMakeLists.txt

@@ -107,6 +107,8 @@ set(LIB_HEADERS
     Path.h
 
     codegeneration/cpp/AronGeneratedClass.h
+    codegeneration/cpp/AronGeneratedObject.h
+    codegeneration/cpp/AronGeneratedIntEnum.h
 
     aron_conversions.h
     rw.h

source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+    class AronGeneratedIntEnumBase : public AronGeneratedClass
+    {
+    public:
+        AronGeneratedIntEnumBase() = default;
+        virtual ~AronGeneratedIntEnumBase() = default;
+
+        /// Convert the current bo to an aron variant data dict
+        virtual armarx::aron::data::IntPtr toAron() const = 0;
+
+        /// Convert the current bo to the ice representation of an aron variant data dict
+        virtual armarx::aron::data::dto::AronIntPtr toAronDTO() const = 0;
+
+        /// Set all members of the current bo according to the aron variant data dict
+        virtual void fromAron(const armarx::aron::data::IntPtr& input) = 0;
+
+        /// Set all members of the current bo according to the ice representation of an aron variant data dict
+        virtual void fromAron(const armarx::aron::data::dto::AronIntPtr& input) = 0;
+    };
+
+    template <class Derived>
+    class AronGeneratedIntEnum :
+            public AronGeneratedIntEnumBase
+    {
+    public:
+
+    };
+
+    template <class T>
+    concept isAronGeneratedIntEnum = std::is_base_of<AronGeneratedIntEnumBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+    using AronGeneratedIntEnumBase = aron::cpp::AronGeneratedIntEnumBase;
+
+    template <class Derived>
+    using AronGeneratedIntEnum = aron::cpp::AronGeneratedIntEnum<Derived>;
+}

source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+
+    class AronGeneratedObjectBase :
+            public AronGeneratedClass
+    {
+    public:
+        AronGeneratedObjectBase() = default;
+        virtual ~AronGeneratedObjectBase() = default;
+
+        /// Convert the current bo to an aron variant data dict
+        virtual armarx::aron::data::DictPtr toAron() const = 0;
+
+        /// Convert the current bo to the ice representation of an aron variant data dict
+        virtual armarx::aron::data::dto::DictPtr toAronDTO() const = 0;
+
+        /// Set all members of the current bo according to the aron variant data dict
+        virtual void fromAron(const armarx::aron::data::DictPtr& input) = 0;
+
+        /// Set all members of the current bo according to the ice representation of an aron variant data dict
+        virtual void fromAron(const armarx::aron::data::dto::DictPtr& input) = 0;
+    };
+
+    template <class Derived>
+    class AronGeneratedObject :
+        public AronGeneratedObjectBase
+    {
+    public:
+        AronGeneratedObject() = default;
+        virtual ~AronGeneratedObject() = default;
+
+        template <class T>
+        void to(T& t) const
+        {
+            const Derived* d = dynamic_cast<const Derived*>(this);
+            if (d)
+            {
+                t.fromAron(*d);
+            }
+        }
+
+        template <class T>
+        void from(const T& t)
+        {
+            Derived* d = dynamic_cast<Derived*>(this);
+            if (d)
+            {
+                t.toAron(*d);
+            }
+        }
+
+        template <class T>
+        void to(T& t, void(*fromAron)(const Derived&, T&)) const
+        {
+            const Derived* d = dynamic_cast<const Derived*>(this);
+            if (d)
+            {
+                fromAron(*d, t);
+            }
+        }
+
+        template <class T>
+        void from(const T& t, void(*toAron)(Derived&, const T&))
+        {
+            Derived* d = dynamic_cast<Derived*>(this);
+            if (d)
+            {
+                toAron(*d, t);
+            }
+        }
+    };
+
+    template <class T>
+    concept isAronGeneratedObject = std::is_base_of<AronGeneratedObjectBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+    using AronGeneratedObjectBase = aron::cpp::AronGeneratedObjectBase;
+
+    template <class Derived>
+    using AronGeneratedObject = aron::cpp::AronGeneratedObject<Derived>;
+}