diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index f7e39ceefaefdc1bc131d075bd419fcd3fd20ba1..05185cc8d7c1a244a9797668f91481a8d2357d5e 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/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(¤t_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(¤t_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";
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index 64d17347e586e80613ef571f8d22d9489d0b522e..c65402434f631f9d26f34c15b6f12d818e1b4a43 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -90,6 +90,7 @@ namespace armarx::aron::codegenerator::cpp
toAron.include =
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAron.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
+ toAron.override = true;
dictDataWriters.push_back(toAron);
}
{
@@ -101,6 +102,7 @@ namespace armarx::aron::codegenerator::cpp
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAronDTO.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
toAronDTO.enforceMemberAccess = "->toAronDictDTO()";
+ toAronDTO.override = true;
dictDataWriters.push_back(toAronDTO);
}
{
@@ -138,6 +140,7 @@ namespace armarx::aron::codegenerator::cpp
toAron.include =
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAron.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
+ toAron.override = true;
intEnumDataWriters.push_back(toAron);
}
{
@@ -149,6 +152,7 @@ namespace armarx::aron::codegenerator::cpp
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAronDTO.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
toAronDTO.enforceMemberAccess = "->toAronIntDTO()";
+ toAronDTO.override = true;
intEnumDataWriters.push_back(toAronDTO);
}
{
@@ -201,6 +205,7 @@ namespace armarx::aron::codegenerator::cpp
fromAron.argumentType = "armarx::aron::data::DictPtr";
fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
dictDataReaders.push_back(fromAron);
}
{
@@ -210,6 +215,7 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAronDTO.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
+ fromAronDTO.override = true;
dictDataReaders.push_back(fromAronDTO);
}
}
@@ -236,6 +242,7 @@ namespace armarx::aron::codegenerator::cpp
fromAron.argumentType = "armarx::aron::data::IntPtr";
fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
intEnumDataReaders.push_back(fromAron);
}
{
@@ -246,6 +253,7 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.include =
"<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Int>";
+ fromAronDTO.override = true;
intEnumDataReaders.push_back(fromAronDTO);
}
}
@@ -274,7 +282,7 @@ namespace armarx::aron::codegenerator::cpp
std::vector<std::string> tmpl_requires;
for (auto& t : type->getTemplates())
{
- tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedClass<" + t + ">");
+ tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedObject<" + t + ">");
tmpl.push_back("class " + t);
}
std::string templateDef = "template <" + simox::alg::join(tmpl, ", ") + ">";
@@ -290,7 +298,7 @@ namespace armarx::aron::codegenerator::cpp
}
else
{
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedObject<" + generator.getFullClassCppTypename() + ">");
}
// Writermethods
@@ -305,8 +313,9 @@ namespace armarx::aron::codegenerator::cpp
{
c->addInclude(info.include);
}
+
CppMethodPtr convert = generator.toSpecializedDataWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
@@ -323,7 +332,7 @@ namespace armarx::aron::codegenerator::cpp
}
CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
@@ -338,8 +347,9 @@ namespace armarx::aron::codegenerator::cpp
{
c->addInclude(info.include);
}
+
CppMethodPtr convert = generator.toSpecializedDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Typewritermethods
@@ -355,7 +365,7 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
CppMethodPtr convert = generator.toSpecializedTypeWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
typeClasses.push_back(c);
@@ -381,28 +391,28 @@ namespace armarx::aron::codegenerator::cpp
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedIntEnum<" + generator.getFullClassCppTypename() + ">");
// ctor
c->addCtor(generator.toEnumCtor(c->getName()));
CppMethodPtr toString = generator.toToStringMethod();
- c->addMethod(toString);
+ c->addPublicMethod(toString);
CppMethodPtr fromString = generator.toFromStringMethod();
- c->addMethod(fromString);
+ c->addPublicMethod(fromString);
CppMethodPtr intConversion = generator.toIntMethod();
- c->addMethod(intConversion);
+ c->addPublicMethod(intConversion);
CppMethodPtr enumAssignment = generator.toEnumAssignmentMethod();
- c->addMethod(enumAssignment);
+ c->addPublicMethod(enumAssignment);
CppMethodPtr enumAssignment2 = generator.toCopyAssignmentMethod();
- c->addMethod(enumAssignment2);
+ c->addPublicMethod(enumAssignment2);
CppMethodPtr enumAssignment3 = generator.toIntAssignmentMethod();
- c->addMethod(enumAssignment3);
+ c->addPublicMethod(enumAssignment3);
// Writermethods
for (codegenerator::WriterInfo info : intEnumDataWriters)
@@ -416,8 +426,9 @@ namespace armarx::aron::codegenerator::cpp
{
c->addInclude(info.include);
}
+
CppMethodPtr convert = generator.toSpecializedDataWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
@@ -434,7 +445,7 @@ namespace armarx::aron::codegenerator::cpp
}
CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
@@ -450,7 +461,7 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
CppMethodPtr convert = generator.toSpecializedDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Typewritermethods
@@ -466,7 +477,7 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
CppMethodPtr convert = generator.toSpecializedTypeWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
typeClasses.push_back(c);
@@ -492,6 +503,8 @@ namespace armarx::aron::codegenerator::cpp
CppEnumPtr e = std::make_shared<CppEnum>(namespaces, "Enum");
auto enumFields = gen.toEnumFields();
+ ARMARX_CHECK(enumFields.size() > 0);
+
for (const auto& field : enumFields)
{
e->addField(field);
@@ -527,7 +540,6 @@ namespace armarx::aron::codegenerator::cpp
}
c->addClassDoc(classDoc);
- c->setPragmaOnceIncludeGuard(true);
// add generator includes (e.g. coming from dto types)
for (const auto& s : gen.getRequiredIncludes())
@@ -551,38 +563,40 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude("<RobotAPI/libraries/aron/core/aron_conversions.h>");
c->addInclude("<RobotAPI/libraries/aron/core/rw.h>");
c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h>");
// ctor
c->addCtor(gen.toCtor(c->getName()));
c->addCtor(gen.toCopyCtor(c->getName()));
// dtor
- c->addMethod(gen.toDtor(c->getName()));
+ c->addPublicMethod(gen.toDtor(c->getName()));
// Generic methods
//std::cout << "Generate equals method" << std::endl;
CppMethodPtr equals = gen.toEqualsMethod();
- c->addMethod(equals);
+ c->addPublicMethod(equals);
//std::cout << "Generate reset method" << std::endl;
CppMethodPtr resetHard = gen.toResetHardMethod();
- c->addMethod(resetHard);
+ c->addPublicMethod(resetHard);
//std::cout << "Generate init method" << std::endl;
CppMethodPtr resetSoft = gen.toResetSoftMethod();
- c->addMethod(resetSoft);
+ c->addPublicMethod(resetSoft);
//std::cout << "Generate writeInit method" << std::endl;
CppMethodPtr writeType = gen.toWriteTypeMethod();
- c->addMethod(writeType);
+ c->addPublicMethod(writeType);
//std::cout << "Generate write method" << std::endl;
CppMethodPtr write = gen.toWriteMethod();
- c->addMethod(write);
+ c->addPublicMethod(write);
//std::cout << "Generate read method" << std::endl;
CppMethodPtr read = gen.toReadMethod();
- c->addMethod(read);
+ c->addPublicMethod(read);
return c;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index be87200f51f745b314ef7f3f7c2a67beb18d332a..d3c61320d0bd8d1f57fd03531edf1f79df5754f2 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -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};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index ce2bbb8dd8df9bfc0fe5c8482e4a7921b42fdfa7..0cddfd33161dcd0bf5f398fa87f4c0a88ec0a447 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -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)");
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
index 53e9dd4a31143ad193e29fa59aec0aed351860a5..fb5e22671ba678ea69072e7b97fee54dbdd395e9 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+++ b/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;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index e3af89daa12ecc2de2f4fe60d9269dd48f729c9a..605c7b8655db3accb2dd1999d7c62e1cfc48730e 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -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);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
index 3bda10de7b14849fe6e18da11f7201704c2f3670..486a57879e42fa1eaced1d76231bf63f181a7312 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
+++ b/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;
};
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
index 1989ac5de9e93ee5ddda8ac66cfa1e65edeab98b..c7dc87033b6fe87356e2b79a42b477ed8bd37b3d 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
+++ b/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;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
index d7add84ada2fcafe2c8bf8f9f9a8d2c40e663c7d..3b05caec20fae2d7a43b406f043e4c2da703923c 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
+++ b/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
######################
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..636f9bde6472fb9596a0a1a07d6343f3690da808
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
@@ -0,0 +1,97 @@
+/*
+ * 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));
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index e17910e7f15989afc0c99c8284469074c1f88f34..2fb890b86fb3c9e1bd26bee37f879922c3d6bcd5 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/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
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
new file mode 100644
index 0000000000000000000000000000000000000000..f173775dabfd4faf404ea47564f3e74183e32de8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
@@ -0,0 +1,68 @@
+/*
+ * 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>;
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
new file mode 100644
index 0000000000000000000000000000000000000000..17d94831b41120c40dbb56932427e003fe3de1fd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
@@ -0,0 +1,111 @@
+/*
+ * 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>;
+}