diff --git a/scenarios/SkillProviderTest/SkillProviderTest.scx b/scenarios/SkillProviderTest/SkillProviderTest.scx
new file mode 100644
index 0000000000000000000000000000000000000000..aa275e46094978c888fe4732db5b70eca27052ac
--- /dev/null
+++ b/scenarios/SkillProviderTest/SkillProviderTest.scx
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="SkillProviderTest" creation="2022-06-02.15:33:15" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="SkillProviderExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SkillsMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/SkillProviderTest/config/SkillProviderExample.cfg b/scenarios/SkillProviderTest/config/SkillProviderExample.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..90ae11d1f4c91a4d1dc3e2b737fabe9475dd125d
--- /dev/null
+++ b/scenarios/SkillProviderTest/config/SkillProviderExample.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# SkillProviderExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.SkillProviderExample.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillProviderExample.EnableProfiling = false
+
+
+# ArmarX.SkillProviderExample.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.SkillProviderExample.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SkillProviderExample.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillProviderExample.ObjectName = ""
+
+
+# ArmarX.SkillProviderExample.skill.SkillManager: The name of the SkillManager (or SkillMemory) proxy this provider belongs to.
+# Attributes:
+# - Default: SkillMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillProviderExample.skill.SkillManager = SkillMemory
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/SkillProviderTest/config/SkillsMemory.cfg b/scenarios/SkillProviderTest/config/SkillsMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..711047a4029175550111268cf857a613c2dd48b2
--- /dev/null
+++ b/scenarios/SkillProviderTest/config/SkillsMemory.cfg
@@ -0,0 +1,358 @@
+# ==================================================================
+# SkillsMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.SkillMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.EnableProfiling = false
+
+
+# ArmarX.SkillMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.SkillMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SkillMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.ObjectName = ""
+
+
+# ArmarX.SkillMemory.StatechartCoreSegmentName: Name of the core segment for statecharts.
+# Attributes:
+# - Default: Statechart
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.StatechartCoreSegmentName = Statechart
+
+
+# ArmarX.SkillMemory.TransitionsProviderSegmentName: Name of the provider segment for statechart transitions.
+# Attributes:
+# - Default: Transitions
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.TransitionsProviderSegmentName = Transitions
+
+
+# ArmarX.SkillMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Skill
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.MemoryName = Skill
+
+
+# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.SkillMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.enabled = false
+
+
+# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.SkillMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.SkillMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener: Name of the ProfilerListenerInterface topics to subscribe.
+# Attributes:
+# - Default: StateReportingTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener = StateReportingTopic
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/SkillProviderTest/config/global.cfg b/scenarios/SkillProviderTest/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..d3f08b90c16b26089df3e8c6bcaf9dbb24c57ddb
--- /dev/null
+++ b/scenarios/SkillProviderTest/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario SkillProviderTest
+# ==================================================================
+
diff --git a/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt b/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
index bc1a0f51ae235625d17a867cd38029b35f0f2e54..c25c4215e20f19107a7ff6de7b46b2e396236962 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
+++ b/source/RobotAPI/applications/AronCodeGenerator/CMakeLists.txt
@@ -1,5 +1,5 @@
armarx_component_set_name("AronCodeGeneratorApp")
-set(COMPONENT_LIBS ArmarXCore aron)
+set(COMPONENT_LIBS ArmarXCore aroncodegenerator)
set(SOURCES
main.cpp
diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index dbe232179fa40b7b8c24a8957730ca1a7113995d..8544c238abca345b587f78737198d6e5e51e7de6 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -39,8 +39,8 @@
#include <ArmarXCore/libraries/cppgen/CppMethod.h>
#include <ArmarXCore/libraries/cppgen/CppClass.h>
-#include <RobotAPI/libraries/aron/core/typereader/xml/Reader.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index 1db9be387b047ca5f97078338d01a68cb53f72c9..aa6d1de0d88e7746ec1af85f6cbf1d7d404e5907 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -247,7 +247,7 @@ namespace armarx::armem
ARMARX_IMPORTANT << "Commiting Armar3 to descriptions";
armem::arondto::RobotDescription desc;
desc.name = "Armar3";
- toAron(desc.timestamp, armem::Time::Now());
+ desc.timestamp = armem::Time::Now();
desc.xml.package = "RobotAPI";
desc.xml.path = "RobotAPI/robots/Armar3/ArmarIII.xml";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 3fbb33eaccbcd2962e44d65c124e124fc6bae846..d740b5f2385f3c95b2004ded5011586728bab65c 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -113,7 +113,7 @@ namespace armarx
{
ARMARX_CHECK_NOT_NULL(instance);
- skills::manager::dto::SkillExecutionInfo exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
+ skills::manager::dto::SkillExecutionRequest exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
SkillManagerComponentPluginUser::executeSkill(exInfo, current);
}
}
@@ -138,7 +138,7 @@ namespace armarx
SkillManagerComponentPluginUser::removeProvider(skillProviderName, current);
}
- void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
+ void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t)
{
skillExecutionRequestCoreSegment.addSkillExecutionRequest(info);
SkillManagerComponentPluginUser::executeSkill(info, current);
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index d609be37f133c2bd6e5603069f884abab33dd555..a71fcb4988315e3b1c1345a4362bd634d18eba4d 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -76,7 +76,7 @@ namespace armarx
// Override SkillManager to add memory functions
void addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+ void executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current ¤t) override;
// WritingInterface interface
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index ab6944e97cbcd54f16a6a6319928474e67ec7910..a5e0c8a639f90ae7572e87855a2a42ab8427c2f5 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -10,21 +10,33 @@
namespace armarx::skills::provider
{
- HelloWorldSkill::HelloWorldSkill() :
- Skill(SkillDescription{
+
+ SkillDescription CreateHelloWorldSkillDescription()
+ {
+ armarx::skills::Example::HelloWorldAcceptedType default_params;
+ default_params.some_float = 5;
+ default_params.some_int = 42;
+ default_params.some_text = "YOLO";
+
+ return SkillDescription{
"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
1000,
- armarx::skills::Example::HelloWorldAcceptedType::ToAronType()
- })
+ armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
+ default_params.toAron()
+ };
+ }
+
+ HelloWorldSkill::HelloWorldSkill() :
+ Skill(CreateHelloWorldSkillDescription())
{}
- Skill::Status HelloWorldSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status HelloWorldSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
- "I received the following data: \n" <<
- aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
- "(executed at: " << IceUtil::Time::now() << ")";
+ "I received the following data: \n" <<
+ aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
+ "(executed at: " << IceUtil::Time::now() << ")";
return Skill::Status::Succeeded;
}
@@ -37,7 +49,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status ChainingSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status ChainingSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
armarx::skills::Example::HelloWorldAcceptedType exec1;
armarx::skills::Example::HelloWorldAcceptedType exec2;
@@ -47,19 +59,18 @@ namespace armarx::skills::provider
exec2.some_text = "Hello from the ChainingSkill 2";
exec3.some_text = "Hello from the ChainingSkill 3";
- manager::dto::SkillExecutionInfo exec;
+ manager::dto::SkillExecutionRequest exec;
exec.providerName = "SkillProviderExample";
exec.skillName = "HelloWorld";
- exec.waitUntilSkillFinished = false;
exec.params = exec1.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
exec.params = exec2.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
exec.params = exec3.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
return Skill::Status::Succeeded;
}
@@ -73,7 +84,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status TimeoutSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status TimeoutSkill::main(const aron::data::DictPtr& d, const CallbackT&)
{
int i = 0;
while (!timeoutReached)
@@ -100,7 +111,7 @@ namespace armarx::skills::provider
nullptr
})
{}
- Skill::Status CallbackSkill::execute(const aron::data::DictPtr& d, const CallbackT& callback)
+ Skill::Status CallbackSkill::main(const aron::data::DictPtr& d, const CallbackT& callback)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 57853d6420b99f99df2a15cd9523a88c48cc031f..8ed9ffc9e2326724df01d83292e6561f6b54d959 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -36,14 +36,14 @@ namespace armarx::skills::provider
{
public:
HelloWorldSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
class ChainingSkill : public Skill
{
public:
ChainingSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
@@ -51,7 +51,7 @@ namespace armarx::skills::provider
{
public:
TimeoutSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
@@ -59,7 +59,7 @@ namespace armarx::skills::provider
{
public:
CallbackSkill();
- Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ Status main(const aron::data::DictPtr&, const CallbackT&) final;
};
/**
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 1d427101fc58c6b36acf68979ff0a16c2f890bfc..89a90ab482f9916ff11ad149faa1a3fc1b7d483c 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -7,11 +7,15 @@ armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
set(SOURCES
aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+ aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
aronTreeWidget/Data.cpp
aronTreeWidget/AronTreeWidgetItem.cpp
aronTreeWidget/AronTreeWidgetController.cpp
aronTreeWidget/modal/AronTreeWidgetModal.cpp
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.cpp
SkillManagerMonitorWidgetController.cpp
@@ -20,11 +24,15 @@ set(SOURCES
set(HEADERS
aronTreeWidget/visitors/AronTreeWidgetCreator.h
aronTreeWidget/visitors/AronTreeWidgetConverter.h
+ aronTreeWidget/visitors/AronTreeWidgetSetter.h
aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
aronTreeWidget/Data.h
aronTreeWidget/AronTreeWidgetItem.h
aronTreeWidget/AronTreeWidgetController.h
aronTreeWidget/modal/AronTreeWidgetModal.h
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModalController.h
SkillManagerMonitorWidgetController.h
@@ -32,6 +40,9 @@ set(HEADERS
set(GUI_UIS
SkillManagerMonitorWidget.ui
+ aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
+ aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
+ aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
aronTreeWidget/modal/text/AronTreeWidgetTextInputModal.ui
aronTreeWidget/modal/dict/AronTreeWidgetDictInputModal.ui
)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 59089db2066050f0ffac50cd63c7af87dbcfea51..00d50db0a789bec5a044839e31189ba429414b07 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -60,28 +60,7 @@
<string>Skill Details</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QPushButton" name="pushButtonPaste">
- <property name="text">
- <string>Set from clipboard</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QPushButton" name="pushButtonStopSkill">
- <property name="text">
- <string>Stop current skill</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButtonCopy">
- <property name="text">
- <string>Copy args to clipboard</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0" colspan="2">
+ <item row="1" column="0" colspan="4">
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<column>
<property name="text">
@@ -105,13 +84,41 @@
</column>
</widget>
</item>
- <item row="6" column="1">
+ <item row="6" column="3">
<widget class="QPushButton" name="pushButtonExecuteSkill">
<property name="text">
<string>Request Execution</string>
</property>
</widget>
</item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButtonPaste">
+ <property name="text">
+ <string>Set from clipboard</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QPushButton" name="pushButtonStopSkill">
+ <property name="text">
+ <string>Stop current skill</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset args</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButtonCopy">
+ <property name="text">
+ <string>Copy args to clipboard</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index e9942f7ec8875466f32951983775783f8f659679..4c3e3a983d6acd45abbadd4626ab374acdd10541 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -159,7 +159,7 @@ namespace armarx
return;
// remove non-existing ones
- auto managerSkills = manager->getSkillProviders();
+ auto managerSkills = manager->getSkillDescriptions();
std::vector<std::string> removedProviders;
for (auto it = skills.begin(); it != skills.end();)
{
@@ -178,16 +178,11 @@ namespace armarx
// add new ones
std::vector<std::string> newProviders;
- for (const auto& [providerName, provider] : managerSkills)
+ for (const auto& [providerName, providerSkills] : managerSkills)
{
if (skills.find(providerName) == skills.end())
{
- SkillProviderData providerData;
- providerData.providerName = providerName;
- providerData.skillDescriptions = provider->getSkills();
- providerData.skillProviderPrx = provider;
- skills.insert(std::make_pair(providerName, providerData));
-
+ skills.insert(std::make_pair(providerName, providerSkills));
newProviders.push_back(providerName);
}
}
@@ -208,13 +203,13 @@ namespace armarx
}
// add new providers
- for (const auto& [providerName, provider] : skills)
+ for (const auto& [providerName, providerSkills] : skills)
{
if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName); it != newProviders.end())
{
auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
item->setText(0, QString::fromStdString(providerName));
- for (const auto& [name, sk] : provider.skillDescriptions)
+ for (const auto& [name, sk] : providerSkills)
{
auto itsk = new QTreeWidgetItem(item);
item->addChild(itsk);
@@ -224,21 +219,24 @@ namespace armarx
}
// update status
+ auto managerStatuses = manager->getSkillExecutionStatuses();
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
try
{
QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
auto providerName = item->text(0).toStdString();
+
+ auto allStatusesForProvider = managerStatuses.at(providerName);
+
for (int j = 0; j < item->childCount(); ++j)
{
QTreeWidgetItem* skillItem = item->child(j);
auto skillName = skillItem->text(0).toStdString();
- auto& providerPrx = skills.at(providerName).skillProviderPrx;
- auto statusUpdate = providerPrx->getSkillExecutionStatus(skillName);
+ auto statusForSkill = allStatusesForProvider.at(skillName);
- skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.status)));
+ skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusForSkill.header.status)));
}
}
catch (const std::exception& e)
@@ -257,24 +255,22 @@ namespace armarx
return;
}
- const auto& prv = skills.at(selectedSkill.providerName);
- if (!prv.skillDescriptions.count(selectedSkill.skillName))
+ const auto& skillDescriptions = skills.at(selectedSkill.providerName);
+ if (!skillDescriptions.count(selectedSkill.skillName))
{
return;
}
auto data = getConfigAsAron();
- skills::manager::dto::SkillExecutionInfo exInfo;
- exInfo.waitUntilSkillFinished = false;
+ skills::manager::dto::SkillExecutionRequest exInfo;
exInfo.providerName = selectedSkill.providerName;
exInfo.skillName = selectedSkill.skillName;
exInfo.params = aron::data::Dict::ToAronDictDTO(data);
- ARMARX_INFO << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName;
+ ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName << ". The data was: " << data;
// Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
- //executions.emplace_back([&](){ manager->executeSkill(exInfo); });
- manager->executeSkill(exInfo);
+ manager->begin_executeSkill(exInfo);
}
void SkillManagerMonitorWidgetController::stopSkill()
@@ -284,8 +280,8 @@ namespace armarx
return;
}
- const auto& prv = skills.at(selectedSkill.providerName);
- if (!prv.skillDescriptions.count(selectedSkill.skillName))
+ const auto& skillDescriptions = skills.at(selectedSkill.providerName);
+ if (!skillDescriptions.count(selectedSkill.skillName))
{
return;
}
@@ -306,6 +302,7 @@ namespace armarx
if (!current->parent())
{
+ // no parent available. Should not happen
return;
}
@@ -331,7 +328,7 @@ namespace armarx
aronTreeWidgetController = nullptr;
skillsArgumentsTreeWidgetItem = nullptr;
- auto skillDesc = skills.at(selectedSkill.providerName).skillDescriptions.at(selectedSkill.skillName);
+ auto skillDesc = skills.at(selectedSkill.providerName).at(selectedSkill.skillName);
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
@@ -341,7 +338,7 @@ namespace armarx
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.targets, ", "))});
+ {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.robots, ", "))});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
@@ -357,20 +354,11 @@ namespace armarx
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
- if (skillDesc.acceptedType)
- {
- auto aron_args = std::make_shared<aron::type::Object>(*skillDesc.acceptedType);
-
- skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Arguments")});
+ skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails, {QString::fromStdString("Arguments")});
+ auto aron_args = aron::type::Object::FromAronObjectDTO(skillDesc.acceptedType);
+ auto default_args = aron::data::Dict::FromAronDictDTO(skillDesc.defaultParams);
- aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args);
- }
- else
- {
- auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails, {QString::fromStdString("No args")});
- widget.treeWidgetSkillDetails->addTopLevelItem(it);
- }
+ aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args, default_args);
}
aron::data::DictPtr SkillManagerMonitorWidgetController::getConfigAsAron() const
@@ -411,6 +399,11 @@ namespace armarx
aronTreeWidgetController->setFromAron(data);
}
+ void SkillManagerMonitorWidgetController::resetCurrentConfig()
+ {
+ // TODO
+ }
+
void SkillManagerMonitorWidgetController::onTreeWidgetItemDoubleClicked(QTreeWidgetItem* item, int column)
{
if (!item)
@@ -427,6 +420,7 @@ namespace armarx
std::string name = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_NAME).toStdString();
std::string type = aItem->text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_TYPE).toStdString();
+ // why visitor?!?!?
AronTreeWidgetModalCreatorVisitor v(name, aItem, widget.treeWidgetSkillDetails);
aron::type::visit(v, aItem->aronType);
auto modal = v.createdModal;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index debeaedff268559d70438cfd3c453cee77f9d3cb..64256f2d6530d766726df37ec5fc60c9429d3e70 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -86,6 +86,7 @@ namespace armarx
void copyCurrentConfig();
void pasteCurrentConfig();
+ void resetCurrentConfig();
void onTreeWidgetItemDoubleClicked(QTreeWidgetItem * item, int column);
@@ -108,15 +109,8 @@ namespace armarx
std::string skillName;
};
- struct SkillProviderData
- {
- std::string providerName;
- skills::provider::dto::SkillDescriptionMap skillDescriptions;
- skills::provider::dti::SkillProviderInterfacePrx skillProviderPrx;
- };
-
- // Data taken from observer
- std::map<std::string, SkillProviderData> skills = {};
+ // Data taken from observer (snapshot of it)
+ skills::manager::dto::SkillDescriptionMapMap skills = {};
// User Input
SelectedSkill selectedSkill;
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
index 1eeaf00ff53e332fb43999311fdf8e4b11ea7d5e..0ef63ff506ebb1f624f7380e61309f02c522b915 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.cpp
@@ -1,20 +1,37 @@
#include "AronTreeWidgetController.h"
#include "visitors/AronTreeWidgetConverter.h"
+#include "visitors/AronTreeWidgetSetter.h"
namespace armarx
{
- AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type):
+ AronTreeWidgetController::AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data):
parent(parent),
tree(tree),
type(type)
{
- AronTreeWidgetCreatorVisitor v;
- aron::type::visit(v, type);
+ if (type) // if there is a type set, we create a tree widget from the typp
+ {
+ AronTreeWidgetCreatorVisitor v;
+ aron::type::visit(v, type);
+
+ if (v.createdQWidgetItem)
+ {
+ parent->addChild(v.createdQWidgetItem);
+ }
- if (v.createdQWidgetItem)
+ if (data) // check if there is a default argument set. Prefill the GUI with it
+ {
+ setFromAron(data);
+ }
+ }
+ else if(data) // there is no type but a default configuration. Prefill the GUI with the default arguments
+ {
+ // create type from data, ...
+ }
+ else
{
- parent->addChild(v.createdQWidgetItem);
+ new QTreeWidgetItem(parent, {QString::fromStdString("No args")});
}
}
@@ -31,8 +48,12 @@ namespace armarx
return nullptr;
}
- void AronTreeWidgetController::setFromAron(const aron::data::DictPtr&)
+ void AronTreeWidgetController::setFromAron(const aron::data::DictPtr& data)
{
-
+ if (parent)
+ {
+ AronTreeWidgetSetterVisitor v(parent, 0);
+ aron::data::visit(v, data);
+ }
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
index 4e73deb0592b30548bd72011ace95d29db070edf..c70b0277b41684a7144319a3c9d07fcf7dd31668 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/AronTreeWidgetController.h
@@ -18,7 +18,7 @@ namespace armarx
{
public:
- AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type);
+ AronTreeWidgetController(QTreeWidget* tree, QTreeWidgetItem* parent, const aron::type::ObjectPtr& type, const aron::data::DictPtr& data = nullptr);
aron::data::DictPtr convertToAron() const;
void setFromAron(const aron::data::DictPtr&);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..69f4a5c99b277ba4808ecc45081df86e0ab55ef0
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetBoolInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetBoolInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7bc282597909fef3dcd538724cb2bf52f05893d2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetBoolInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetBoolInputModalController::AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetBoolInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetBoolInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1a1c60a07665fae06869962bc9a66c84da4cef12
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/AronTreeWidgetBoolInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/bool/ui_AronTreeWidgetBoolInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetBoolInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetBoolInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetBoolInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..ba3734066df16e227142f6636d7cb6e39c415646
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetFloatInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetFloatInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ae9cbe6aac34390785cdc410508681ff0b79a9f6
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetFloatInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetFloatInputModalController::AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetFloatInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetFloatInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..debd50e9f04eae0d35c161d9124e7876d3eacc6c
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/AronTreeWidgetFloatInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/float_double/ui_AronTreeWidgetFloatInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetFloatInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetFloatInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetFloatInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
new file mode 100644
index 0000000000000000000000000000000000000000..538a78e766e997ad9811ff11b6036f088de332e2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetIntInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetIntInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dd9b19e06494c8720f7cc2e172b0caecad3fc7d2
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.cpp
@@ -0,0 +1,27 @@
+#include "AronTreeWidgetIntInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetIntInputModalController::AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent) :
+ AronTreeWidgetModal(label, item, parent)
+ {
+ widget.setupUi(this);
+
+ // TODO
+ }
+
+ void AronTreeWidgetIntInputModalController::submit()
+ {
+ item->setText(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE, widget.textEditInput->toPlainText());
+
+ AronTreeWidgetModal::submit();
+ }
+
+ void AronTreeWidgetIntInputModalController::reset()
+ {
+ AronTreeWidgetModal::reset();
+
+ // reset to initial value
+ widget.textEditInput->setPlainText(init.text(aron_tree_widget::constantes::TREE_WIDGET_ITEM_VALUE));
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1de43a0870b2af8ff4edbc974c13f826d31e67ef
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/AronTreeWidgetIntInputModalController.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "../AronTreeWidgetModal.h"
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/int_long/ui_AronTreeWidgetIntInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class AronTreeWidgetIntInputModalController :
+ public AronTreeWidgetModal
+ {
+
+ public:
+
+ AronTreeWidgetIntInputModalController(const std::string& label, AronTreeWidgetItem* item, QTreeWidget* parent);
+
+ private slots:
+
+ void submit() final;
+ void reset() final;
+
+ private:
+ Ui::AronTreeWidgetIntInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/others_are_TODO b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/others_are_TODO
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
index 216451f4ad761080357b368744b3c7c1a65e77dc..c86cb5e8475d507b71495a3c28eca34f063a932e 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h
@@ -1,12 +1,5 @@
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
#include "../AronTreeWidgetModal.h"
#include <RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/modal/text/ui_AronTreeWidgetTextInputModal.h>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index 0da02a754f257e348be003a839f3dadae6d9d2a8..fbdc653abc5fa7cab715fc8abc7aa200de0243c1 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -22,18 +22,21 @@
#include <string>
+// base class
#include "AronTreeWidgetConverter.h"
-// debug
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+// armarx
+#include <ArmarXCore/core/logging/Logging.h>
+
+// qt
+#include <QTreeWidgetItem>
-//visitors
namespace armarx
{
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
- auto createdAronDict = std::make_shared<aron::data::Dict>();
+ auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
QTreeWidgetItem* el = parentItem->child(index);
@@ -43,17 +46,14 @@ namespace armarx
AronTreeWidgetConverterVisitor v(el, x++);
aron::type::visit(v, value);
- if (v.createdAron)
- {
- createdAronDict->addElement(key, v.createdAron);
- }
+ createdAronDict->addElement(key, v.createdAron);
}
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
{
- auto createdAronDict = std::make_shared<aron::data::Dict>();
+ auto createdAronDict = std::make_shared<aron::data::Dict>(i->getPath());
createdAron = createdAronDict;
QTreeWidgetItem* el = parentItem->child(index);
@@ -106,24 +106,6 @@ namespace armarx
// TODO
}
- void
- AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PositionPtr& i)
- {
- // TODO
- }
-
- void
- AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
- {
- // TODO
- }
-
- void
- AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PosePtr& i)
- {
- // TODO
- }
-
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ImagePtr& i)
{
@@ -145,7 +127,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
{
- auto createdAronInt = std::make_shared<aron::data::Int>();
+ auto createdAronInt = std::make_shared<aron::data::Int>(i->getPath());
createdAron = createdAronInt;
QTreeWidgetItem* el = parentItem->child(index);
@@ -163,7 +145,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
{
- auto createdAronLong = std::make_shared<aron::data::Long>();
+ auto createdAronLong = std::make_shared<aron::data::Long>(i->getPath());
createdAron = createdAronLong;
QTreeWidgetItem* el = parentItem->child(index);
@@ -179,7 +161,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
{
- auto createdAronFloat = std::make_shared<aron::data::Float>();
+ auto createdAronFloat = std::make_shared<aron::data::Float>(i->getPath());
createdAron = createdAronFloat;
QTreeWidgetItem* el = parentItem->child(index);
@@ -195,7 +177,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
{
- auto createdAronDouble = std::make_shared<aron::data::Double>();
+ auto createdAronDouble = std::make_shared<aron::data::Double>(i->getPath());
createdAron = createdAronDouble;
QTreeWidgetItem* el = parentItem->child(index);
@@ -211,7 +193,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
{
- auto createdAronBool = std::make_shared<aron::data::Bool>();
+ auto createdAronBool = std::make_shared<aron::data::Bool>(i->getPath());
createdAron = createdAronBool;
QTreeWidgetItem* el = parentItem->child(index);
@@ -227,7 +209,7 @@ namespace armarx
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
{
- auto createdAronString = std::make_shared<aron::data::String>();
+ auto createdAronString = std::make_shared<aron::data::String>(i->getPath());
createdAron = createdAronString;
QTreeWidgetItem* el = parentItem->child(index);
@@ -235,13 +217,6 @@ namespace armarx
createdAronString->fromString(str);
}
- void
- AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::TimePtr& i)
- {
- auto l = std::make_shared<aron::type::Long>();
- visitLong(l);
- }
-
void AronTreeWidgetConverterVisitor::visitUnknown(Input&)
{
ARMARX_WARNING_S << "Received an unknown type when trying to convert a skill argument type to an aron data object.";
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
index 5021cb5ae473c3212ec3bcde32708940fcb23f9d..eb056cdc2a65f14ef4d884124d6cb14ac2e9ed7e 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.h
@@ -21,22 +21,14 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
-
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+// forward declarations of qt
+class QTreeWidgetItem;
+
+
namespace armarx
{
// Conversion from TreeView to aron data
@@ -46,35 +38,31 @@ namespace armarx
public:
QTreeWidgetItem* parentItem;
int index;
- aron::data::VariantPtr createdAron;
+ aron::data::VariantPtr createdAron = nullptr;
AronTreeWidgetConverterVisitor() = delete;
AronTreeWidgetConverterVisitor(QTreeWidgetItem* i, int x) :
parentItem(i), index(x)
{}
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr&) override;
- void visitAronVariant(const aron::type::PairPtr&) override;
- void visitAronVariant(const aron::type::TuplePtr&) override;
- void visitAronVariant(const aron::type::ListPtr&) override;
- void visitAronVariant(const aron::type::NDArrayPtr&) override;
- void visitAronVariant(const aron::type::MatrixPtr&) override;
- void visitAronVariant(const aron::type::QuaternionPtr&) override;
- void visitAronVariant(const aron::type::PositionPtr&) override;
- void visitAronVariant(const aron::type::OrientationPtr&) override;
- void visitAronVariant(const aron::type::PosePtr&) override;
- void visitAronVariant(const aron::type::ImagePtr&) override;
- void visitAronVariant(const aron::type::PointCloudPtr&) override;
- void visitAronVariant(const aron::type::IntEnumPtr&) override;
- void visitAronVariant(const aron::type::IntPtr&) override;
- void visitAronVariant(const aron::type::LongPtr&) override;
- void visitAronVariant(const aron::type::FloatPtr&) override;
- void visitAronVariant(const aron::type::DoublePtr&) override;
- void visitAronVariant(const aron::type::BoolPtr&) override;
- void visitAronVariant(const aron::type::StringPtr&) override;
- void visitAronVariant(const aron::type::TimePtr&) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr&) final;
+ void visitAronVariant(const aron::type::PairPtr&) final;
+ void visitAronVariant(const aron::type::TuplePtr&) final;
+ void visitAronVariant(const aron::type::ListPtr&) final;
+ void visitAronVariant(const aron::type::NDArrayPtr&) final;
+ void visitAronVariant(const aron::type::MatrixPtr&) final;
+ void visitAronVariant(const aron::type::QuaternionPtr&) final;
+ void visitAronVariant(const aron::type::ImagePtr&) final;
+ void visitAronVariant(const aron::type::PointCloudPtr&) final;
+ void visitAronVariant(const aron::type::IntEnumPtr&) final;
+ void visitAronVariant(const aron::type::IntPtr&) final;
+ void visitAronVariant(const aron::type::LongPtr&) final;
+ void visitAronVariant(const aron::type::FloatPtr&) final;
+ void visitAronVariant(const aron::type::DoublePtr&) final;
+ void visitAronVariant(const aron::type::BoolPtr&) final;
+ void visitAronVariant(const aron::type::StringPtr&) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index 37a59c62ab72eef562f46dbf4f04d0d24b0b3977..ee43334bb26862322610746269fee97a16d0cccd 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -22,14 +22,13 @@
#include <string>
+// base class
#include "AronTreeWidgetCreator.h"
-// debug
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
+// data
+#include "../AronTreeWidgetItem.h"
#include "../Data.h"
-//visitors
namespace armarx
{
void
@@ -95,15 +94,6 @@ namespace armarx
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{ createSimpleTreeViewWidget(i, ""); }
void
- AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::PositionPtr& i)
- { createSimpleTreeViewWidget(i, ""); }
- void
- AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
- { createSimpleTreeViewWidget(i, ""); }
- void
- AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::PosePtr& i)
- { createSimpleTreeViewWidget(i, ""); }
- void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
{ createSimpleTreeViewWidget(i, ""); }
void
@@ -130,9 +120,6 @@ namespace armarx
void
AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
{ createSimpleTreeViewWidget(i, ""); }
- void
- AronTreeWidgetCreatorVisitor::visitAronVariant(const aron::type::TimePtr& i)
- { createSimpleTreeViewWidget(i, "0"); }
void AronTreeWidgetCreatorVisitor::visitUnknown(Input&)
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
index a81d1137df6f29636f790cc5083f744c7b13f1b0..63dde7ef0be04d8d790c5f8434ae1b82faeb107a 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.h
@@ -21,26 +21,15 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
-#include "../AronTreeWidgetItem.h"
-
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
namespace armarx
{
- // Convert aron type to tree widget
+ class AronTreeWidgetItem;
+
+ // Convert aron type to tree widgets
class AronTreeWidgetCreatorVisitor :
public armarx::aron::type::ConstVariantVisitor
{
@@ -51,28 +40,24 @@ namespace armarx
void createSimpleTreeViewWidget(Input& i, const std::string&);
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr& i) override;
- void visitAronVariant(const aron::type::PairPtr& i) override;
- void visitAronVariant(const aron::type::TuplePtr& i) override;
- void visitAronVariant(const aron::type::ListPtr& i) override;
- void visitAronVariant(const aron::type::NDArrayPtr& i) override;
- void visitAronVariant(const aron::type::MatrixPtr& i) override;
- void visitAronVariant(const aron::type::QuaternionPtr& i) override;
- void visitAronVariant(const aron::type::PositionPtr& i) override;
- void visitAronVariant(const aron::type::OrientationPtr& i) override;
- void visitAronVariant(const aron::type::PosePtr& i) override;
- void visitAronVariant(const aron::type::ImagePtr& i) override;
- void visitAronVariant(const aron::type::PointCloudPtr& i) override;
- void visitAronVariant(const aron::type::IntEnumPtr& i) override;
- void visitAronVariant(const aron::type::IntPtr& i) override;
- void visitAronVariant(const aron::type::LongPtr& i) override;
- void visitAronVariant(const aron::type::FloatPtr& i) override;
- void visitAronVariant(const aron::type::DoublePtr& i) override;
- void visitAronVariant(const aron::type::BoolPtr& i) override;
- void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitAronVariant(const aron::type::TimePtr& i) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr& i) final;
+ void visitAronVariant(const aron::type::PairPtr& i) final;
+ void visitAronVariant(const aron::type::TuplePtr& i) final;
+ void visitAronVariant(const aron::type::ListPtr& i) final;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) final;
+ void visitAronVariant(const aron::type::MatrixPtr& i) final;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) final;
+ void visitAronVariant(const aron::type::ImagePtr& i) final;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) final;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) final;
+ void visitAronVariant(const aron::type::IntPtr& i) final;
+ void visitAronVariant(const aron::type::LongPtr& i) final;
+ void visitAronVariant(const aron::type::FloatPtr& i) final;
+ void visitAronVariant(const aron::type::DoublePtr& i) final;
+ void visitAronVariant(const aron::type::BoolPtr& i) final;
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
index 20108945952003a98bc2949c5cf151f0244bb9c8..7ff248bd58499028bcf43a158f83f67c1259b43c 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
@@ -26,10 +26,13 @@
#include <SimoxUtility/algorithm/string.h>
-// debug
+// modals
#include "../modal/text/AronTreeWidgetTextInputModalController.h"
#include "../modal/dict/AronTreeWidgetDictInputModalController.h"
+// qt
+#include <QTreeWidget>
+
//visitors
namespace armarx
{
@@ -70,18 +73,6 @@ namespace armarx
AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
{ }
- void
- AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::PositionPtr& i)
- { }
-
- void
- AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
- { }
-
- void
- AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::PosePtr& i)
- { }
-
void
AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
{ }
@@ -130,12 +121,6 @@ namespace armarx
createdModal = std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
}
- void
- AronTreeWidgetModalCreatorVisitor::visitAronVariant(const aron::type::TimePtr& i)
- {
- createdModal = std::make_shared<AronTreeWidgetTextInputModalController>(label, item, parent);
- }
-
void AronTreeWidgetModalCreatorVisitor::visitUnknown(Input&)
{
ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget modal for a skill argument type.";
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
index c1bba0790bb2ddeb00c3d6c166242f324bf74922..e22930a1080977d0feb6475c72a3b6c848d5d8e5 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
@@ -21,25 +21,12 @@
*/
#pragma once
-#include <stack>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
-
-#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
-
#include "../modal/AronTreeWidgetModal.h"
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
-#include <QTreeWidget>
-
namespace armarx
{
// Convert aron type to tree widget
@@ -59,28 +46,24 @@ namespace armarx
parent(parent)
{}
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr& i) override;
- void visitAronVariant(const aron::type::PairPtr& i) override;
- void visitAronVariant(const aron::type::TuplePtr& i) override;
- void visitAronVariant(const aron::type::ListPtr& i) override;
- void visitAronVariant(const aron::type::NDArrayPtr& i) override;
- void visitAronVariant(const aron::type::MatrixPtr& i) override;
- void visitAronVariant(const aron::type::QuaternionPtr& i) override;
- void visitAronVariant(const aron::type::PositionPtr& i) override;
- void visitAronVariant(const aron::type::OrientationPtr& i) override;
- void visitAronVariant(const aron::type::PosePtr& i) override;
- void visitAronVariant(const aron::type::ImagePtr& i) override;
- void visitAronVariant(const aron::type::PointCloudPtr& i) override;
- void visitAronVariant(const aron::type::IntEnumPtr& i) override;
- void visitAronVariant(const aron::type::IntPtr& i) override;
- void visitAronVariant(const aron::type::LongPtr& i) override;
- void visitAronVariant(const aron::type::FloatPtr& i) override;
- void visitAronVariant(const aron::type::DoublePtr& i) override;
- void visitAronVariant(const aron::type::BoolPtr& i) override;
- void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitAronVariant(const aron::type::TimePtr& i) override;
- void visitUnknown(Input&) override;
+ void visitAronVariant(const aron::type::ObjectPtr&) final;
+ void visitAronVariant(const aron::type::DictPtr& i) final;
+ void visitAronVariant(const aron::type::PairPtr& i) final;
+ void visitAronVariant(const aron::type::TuplePtr& i) final;
+ void visitAronVariant(const aron::type::ListPtr& i) final;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) final;
+ void visitAronVariant(const aron::type::MatrixPtr& i) final;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) final;
+ void visitAronVariant(const aron::type::ImagePtr& i) final;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) final;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) final;
+ void visitAronVariant(const aron::type::IntPtr& i) final;
+ void visitAronVariant(const aron::type::LongPtr& i) final;
+ void visitAronVariant(const aron::type::FloatPtr& i) final;
+ void visitAronVariant(const aron::type::DoublePtr& i) final;
+ void visitAronVariant(const aron::type::BoolPtr& i) final;
+ void visitAronVariant(const aron::type::StringPtr& i) final;
+ void visitUnknown(Input&) final;
};
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..87d99fe162344661a0511f49563c5d601342fe11
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
@@ -0,0 +1,137 @@
+/*
+ * 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::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include "AronTreeWidgetSetter.h"
+
+//visitors
+namespace armarx
+{
+ bool AronTreeWidgetSetterVisitor::checkTreeWidgetItemForSimilarName(const std::string& name) const
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ std::string n = el->text(0).toStdString();
+ if (name != n)
+ {
+ ARMARX_WARNING_S << "Could not set a tree widget value for the element with key '" << name << "' because it is different from the expected name '" << n << "'.";
+ return false;
+ }
+ return true;
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DictPtr& i)
+ {
+ if (i->getPath().size() == 0 || checkTreeWidgetItemForSimilarName(i->getPath().getLastElement())) // either it is the root or it has a name
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ unsigned int x = 0;
+ for (const auto& [key, value] : i->getElements())
+ {
+ AronTreeWidgetSetterVisitor v(el, x++);
+ aron::data::visit(v, value);
+ }
+ return;
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::ListPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ unsigned int x = 0;
+ for (const auto& value : i->getElements())
+ {
+ AronTreeWidgetSetterVisitor v(el, x++);
+ aron::data::visit(v, value);
+ }
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::NDArrayPtr& i)
+ {
+
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::IntPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::LongPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::FloatPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::DoublePtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::BoolPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(std::to_string(i->getValue())));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitAronVariant(const aron::data::StringPtr& i)
+ {
+ if (checkTreeWidgetItemForSimilarName(i->getPath().getLastElement()))
+ {
+ QTreeWidgetItem* el = parentItem->child(index);
+ el->setText(1, QString::fromStdString(i->getValue()));
+ }
+ }
+
+ void AronTreeWidgetSetterVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to set a skill argument type from an aron data object.";
+ }
+}
+
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h
new file mode 100644
index 0000000000000000000000000000000000000000..336be31e20d4ff44496a8a2f8424d7dd3c1419f1
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetSetter.h
@@ -0,0 +1,64 @@
+/*
+ * 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::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <stack>
+
+#include "../AronTreeWidgetItem.h"
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx
+{
+ // Conversion from TreeView to aron data
+ class AronTreeWidgetSetterVisitor :
+ public armarx::aron::data::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ int index;
+ AronTreeWidgetItem* qWidgetItem;
+
+ AronTreeWidgetSetterVisitor() = delete;
+ AronTreeWidgetSetterVisitor(QTreeWidgetItem* i, int x) :
+ parentItem(i), index(x)
+ {}
+
+ virtual void visitAronVariant(const aron::data::DictPtr&) final;
+ virtual void visitAronVariant(const aron::data::ListPtr&) final;
+ virtual void visitAronVariant(const aron::data::NDArrayPtr&) final;
+ virtual void visitAronVariant(const aron::data::IntPtr&) final;
+ virtual void visitAronVariant(const aron::data::LongPtr&) final;
+ virtual void visitAronVariant(const aron::data::FloatPtr&) final;
+ virtual void visitAronVariant(const aron::data::DoublePtr&) final;
+ virtual void visitAronVariant(const aron::data::BoolPtr&) final;
+ virtual void visitAronVariant(const aron::data::StringPtr&) final;
+ void visitUnknown(Input&) final;
+
+ private:
+ bool checkTreeWidgetItemForSimilarName(const std::string& name) const;
+ };
+}
+
+
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 2c7d5ff0de9c729009d7b540c31bb5842e610cc0..5d9d3c04b278f8032125f98cf82d63aaa8253155 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -112,7 +112,7 @@ set(SLICE_FILES
armem.ice
armem/actions.ice
- armem/io.ice
+ armem/structure.ice
armem/commit.ice
armem/memory.ice
armem/prediction.ice
@@ -123,8 +123,8 @@ set(SLICE_FILES
armem/server.ice
armem/server/ActionsInterface.ice
- armem/server/StoringMemoryInterface.ice
- armem/server/LoadingMemoryInterface.ice
+ armem/server/RecordingMemoryInterface.ice
+ armem/server/ReplayingMemoryInterface.ice
armem/server/MemoryInterface.ice
armem/server/PredictingMemoryInterface.ice
armem/server/ReadingMemoryInterface.ice
diff --git a/source/RobotAPI/interface/armem/io.ice b/source/RobotAPI/interface/armem/io.ice
deleted file mode 100644
index f721edfad97923d8615d956bf1d93788ae0e16c3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/armem/io.ice
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <ArmarXCore/interface/core/PackagePath.ice>
-#include <RobotAPI/interface/armem/memory.ice>
-#include <RobotAPI/interface/armem/query.ice>
-
-module armarx
-{
- module armem
- {
- module data
- {
- struct StoreInput
- {
- armem::query::data::Input query;
- };
- sequence<StoreInput> StoreInputSeq;
-
- struct StoreResult
- {
- bool success = false;
- long timeStartedMicroSeconds;
- long timeFinishedMicroSeconds;
-
- string errorMessage;
- };
- };
- };
-};
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index f5555e4f306bf3e73ab3e47719f89a2ddb87268d..c672e42ddf7b5444b37b4a78a7f813f67054f82a 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -11,17 +11,18 @@ module armarx
{
module data
{
- enum QueryTarget
+ module QueryTarget
{
- WM,
- LTM
- };
- sequence<QueryTarget> QueryTargets;
+ enum QueryTargetEnum
+ {
+ WM,
+ WM_LTM
+ };
+ }
/// Which entity snapshots to get from an entity?
class EntityQuery
{
- QueryTargets targets;
};
sequence<EntityQuery> EntityQuerySeq;
@@ -115,7 +116,6 @@ module armarx
class ProviderSegmentQuery
{
EntityQuerySeq entityQueries;
- QueryTargets targets;
};
sequence<ProviderSegmentQuery> ProviderSegmentQuerySeq;
module provider
@@ -138,7 +138,6 @@ module armarx
class CoreSegmentQuery
{
ProviderSegmentQuerySeq providerSegmentQueries;
- QueryTargets targets;
};
sequence<CoreSegmentQuery> CoreSegmentQuerySeq;
@@ -162,7 +161,7 @@ module armarx
class MemoryQuery
{
CoreSegmentQuerySeq coreSegmentQueries;
- QueryTargets targets;
+ QueryTarget::QueryTargetEnum target = QueryTarget::QueryTargetEnum::WM;
};
sequence<MemoryQuery> MemoryQuerySeq;
dictionary<string, MemoryQuerySeq> MemoryQueriesDict;
diff --git a/source/RobotAPI/interface/armem/server/MemoryInterface.ice b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
index 2c6c1e14c5e2ff31ee61006cae3b9ebd6788c534..ddfcb5b2bdbcdfe8685ce6d4380d7fdbe283396a 100644
--- a/source/RobotAPI/interface/armem/server/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
@@ -1,7 +1,7 @@
#pragma once
-#include <RobotAPI/interface/armem/server/LoadingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/StoringMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/RecordingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
@@ -18,7 +18,7 @@ module armarx
{
module server
{
- interface LongTermMemoryInterface extends LoadingMemoryInterface, StoringMemoryInterface
+ interface LongTermMemoryInterface extends ReplayingMemoryInterface, RecordingMemoryInterface
{
};
diff --git a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
index d8eed09f31c68fc6699f865ffa0a5dd6da51f226..8a0d185d6092ada17170d652850633d52a5eb89d 100644
--- a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
@@ -1,6 +1,7 @@
#pragma once
#include <RobotAPI/interface/armem/query.ice>
+#include <RobotAPI/interface/armem/structure.ice>
module armarx
@@ -9,9 +10,16 @@ module armarx
{
module server
{
+ module dto
+ {
+
+ }
+
interface ReadingMemoryInterface
{
armem::query::data::Result query(armem::query::data::Input input);
+
+ armem::structure::data::GetServerStructureResult getServerStructure();
};
};
};
diff --git a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..1da45e9db1429cb4319b0c477c8ef16ec6fb3024
--- /dev/null
+++ b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
@@ -0,0 +1,85 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
+
+module armarx
+{
+ module armem
+ {
+ module server
+ {
+ module dto
+ {
+ module RecordingMode
+ {
+ enum RecordingModeEnum
+ {
+ ALL,
+ NO_BUFFER,
+ FREQUENCY
+ };
+ }
+
+ struct DirectlyStoreInput
+ {
+ armarx::armem::data::Memory memory;
+ };
+
+ struct DirectlyStoreResult
+ {
+ bool success = false;
+ long timeStartedMicroSeconds;
+ long timeFinishedMicroSeconds;
+
+ string errorMessage;
+ };
+
+ struct RecordStatus
+ {
+ int totalSnapshots;
+ int savedSnapshots;
+ };
+
+ struct RecordingModeConfiguration
+ {
+ RecordingMode::RecordingModeEnum mode;
+ float frequency;
+ };
+ dictionary <armarx::armem::data::MemoryID, RecordingModeConfiguration> Configuration;
+
+ struct StartRecordResult {
+ bool success;
+ string errorMessage;
+ };
+
+ struct StopRecordResult {
+ bool success;
+ string errorMessage;
+ };
+
+ struct RecordStatusResult {
+ bool success;
+ string errorMessage;
+ RecordStatus status;
+ };
+
+ struct StartRecordInput {
+ armarx::core::time::dto::DateTime executionTime;
+ string recordingID; //recordingID is formatted: timestamp_recordingName
+ Configuration configuration;
+ };
+ }
+
+ interface RecordingMemoryInterface
+ {
+ // Storing
+ dto::DirectlyStoreResult directlyStore(dto::DirectlyStoreInput directlStoreInput);
+
+ // Recording
+ dto::StartRecordResult startRecord(dto::StartRecordInput startRecordInput);
+ dto::StopRecordResult stopRecord();
+ dto::RecordStatusResult getRecordStatus();
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
similarity index 60%
rename from source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice
rename to source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
index 68a3ff2ef6fc06114eaff88dcb3e0393002b1160..d0825d8385f07e35ba7aca6ac0c95a5a1a43a767 100644
--- a/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/io.ice>
+#include <RobotAPI/interface/armem/memory.ice>
module armarx
@@ -9,7 +9,7 @@ module armarx
{
module server
{
- interface LoadingMemoryInterface
+ interface ReplayingMemoryInterface
{
};
diff --git a/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice b/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice
deleted file mode 100644
index 4e369bf259f24eccb36bcd1a2a58373da0fec442..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/armem/server/StoringMemoryInterface.ice
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/io.ice>
-
-
-module armarx
-{
- module armem
- {
- module server
- {
- interface StoringMemoryInterface
- {
- data::StoreResult store(data::StoreInput input);
- };
- };
- };
-};
diff --git a/source/RobotAPI/interface/armem/structure.ice b/source/RobotAPI/interface/armem/structure.ice
new file mode 100644
index 0000000000000000000000000000000000000000..2331a9e9be618c4c7c0b24c55fd34340a3f71eab
--- /dev/null
+++ b/source/RobotAPI/interface/armem/structure.ice
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
+
+module armarx
+{
+ module armem
+ {
+ module structure
+ {
+ module data
+ {
+ struct GetServerStructureResult {
+ bool success;
+ string errorMessage;
+ armarx::armem::data::Memory serverStructure; //structure of the Server without data (all Segments...)
+ };
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index 979c15ac05779f84d44046bad5b7fd9ff619d750..c766750c2b8fbb33940fa09b0b0978ea73512ae7 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -1,9 +1,17 @@
#pragma once
+/**
+ * Changelog:
+ * - Update 1.1.0: Allow templates in aron and anyobjects
+ * - Update 1.1.1: Switch to armarx type. Also remove position, orientation and pose types as they are nothing else that matrices or quaternions
+ **/
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
#define ARON_MAJOR "1"
#define ARON_MINOR "1"
-#define ARON_PATCH "0"
-#define ARON_VERSION "1.1.0" // allow templates + any types
+#define ARON_PATCH "2"
+#define ARON_VERSION "1.1.2"
module armarx
{
@@ -12,14 +20,6 @@ module armarx
const string VERSION = ARON_VERSION;
- /*************************
- * General Definitions ***
- ************************/
- sequence<byte> AronByteSeq;
- sequence<int> AronIntSeq;
- sequence<string> AronStringSeq;
- dictionary<string, int> AronIntDict;
-
/*************************
* Aron Types ************
@@ -28,25 +28,25 @@ module armarx
{
enum Maybe
{
- eNone,
- eOptional,
- eRawPointer,
- eUniquePointer,
- eSharedPointer
+ NONE,
+ OPTIONAL,
+ RAW_PTR,
+ UNIQUE_PTR,
+ SHARED_PTR
};
module ndarray
{
enum ElementType
{
- uint8,
- int8,
- uint16,
- int16,
- uint32,
- int32,
- float32,
- float64
+ UINT8,
+ INT8,
+ UINT16,
+ INT16,
+ UINT32,
+ INT32,
+ FLOAT32,
+ FLOAT64
};
};
@@ -54,8 +54,8 @@ module armarx
{
enum PixelType
{
- rgb24,
- depth32
+ RGB24,
+ DEPTH32
};
};
@@ -63,13 +63,13 @@ module armarx
{
enum VoxelType
{
- PointXYZ,
- PointXYZI,
- PointXYZL,
- PointXYZRGB,
- PointXYZRGBL,
- PointXYZRGBA,
- PointXYZHSV
+ POINT_XYZ,
+ POINT_XYZI,
+ POINT_XYZL,
+ POINT_XYZRGB,
+ POINT_XYZRGBL,
+ POINT_XYZRGBA,
+ POINT_XYZHSV
};
};
@@ -77,11 +77,11 @@ module armarx
{
enum ElementType
{
- int16,
- int32,
- int64,
- float32,
- float64
+ INT16,
+ INT32,
+ INT64,
+ FLOAT32,
+ FLOAT64
};
};
@@ -89,8 +89,8 @@ module armarx
{
enum ElementType
{
- float32,
- float64
+ FLOAT32,
+ FLOAT64
};
};
@@ -98,7 +98,7 @@ module armarx
{
class GenericType {
string VERSION = ARON_VERSION;
- Maybe maybe = Maybe::eNone;
+ Maybe maybe = Maybe::NONE;
}
sequence<GenericType> GenericTypeSeq;
dictionary<string, GenericType> GenericTypeDict;
@@ -107,7 +107,7 @@ module armarx
class List extends GenericType { GenericType acceptedType; }
class Tuple extends GenericType { GenericTypeSeq elementTypes; }
class Pair extends GenericType { GenericType acceptedType1; GenericType acceptedType2; }
- class AronObject extends GenericType { AronObject parent; AronStringSeq templates; string objectName; AronStringSeq templateInstantiations; GenericTypeDict elementTypes; }
+ class AronObject extends GenericType { AronObject parent; Ice::StringSeq templates; string objectName; Ice::StringSeq templateInstantiations; GenericTypeDict elementTypes; }
class Dict extends GenericType { GenericType acceptedType; }
/* ***** Complex Types (serialize to ndarray) ***** */
@@ -116,12 +116,14 @@ module armarx
class Quaternion extends GenericType { quaternion::ElementType elementType; }
class Image extends GenericType { image::PixelType pixelType; }
class PointCloud extends GenericType { pointcloud::VoxelType voxelType; }
- class Position extends GenericType { }
- class Orientation extends GenericType { }
- class Pose extends GenericType { }
/* ***** Enum types ***** */
- class IntEnum extends GenericType { string enumName; AronIntDict acceptedValues; }
+ class IntEnum extends GenericType { string enumName; StringIntDict acceptedValues; }
+ //class FloatEnum extends GenericType { string enumName; StringFloatDict acceptedValues; }
+ //class StringEnum extends GenericType { string enumName; StringStringDict acceptedValues; }
+
+ /* ***** Any Types ***** */
+ class AnyObject extends GenericType { };
/* ***** Primitive Types ***** */
class AronInt extends GenericType { };
@@ -130,10 +132,6 @@ module armarx
class AronFloat extends GenericType { };
class AronString extends GenericType { };
class AronBool extends GenericType { };
- class AronTime extends GenericType { };
-
- /* ***** Any Types ***** */
- class AnyObject extends GenericType {};
};
};
@@ -159,7 +157,7 @@ module armarx
// The NDArray contains more or less the same information as an AronType, but there is no other way to do it
// Especially, note the difference between the type's typeName (e.g. "GRAY_SCALE_IMAGE" => language dependent) and the data's type ("0")
// Further, note the difference between the type's dimensions (e.g. 128x128) and the data's dimensions (128x128x3 for RGB)
- class NDArray extends GenericData { AronIntSeq shape; string type; AronByteSeq data; }
+ class NDArray extends GenericData { Ice::IntSeq shape; string type; Ice::ByteSeq data; }
/* ***** Primitive Data ***** */
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 9f6bd73148b7de3a7f043359775155d33a3227ff..28712a953e389ff54a7b7bab2f2a5cf48e24526e 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -34,31 +34,39 @@ module armarx
module dto
{
// Inputs
- struct SkillExecutionInfo
+ struct SkillExecutionRequest
{
string providerName;
string skillName;
aron::data::dto::Dict params;
- bool waitUntilSkillFinished;
};
-
struct ProviderInfo
{
string providerName;
provider::dti::SkillProviderInterface* provider;
provider::dto::SkillDescriptionMap providedSkills;
};
+
+ // Provider data types
+ dictionary<string, provider::dto::SkillDescriptionMap> SkillDescriptionMapMap;
+ dictionary<string, provider::dto::SkillStatusUpdateMap> SkillStatusUpdateMapMap;
}
module dti
{
interface SkillManagerInterface extends callback::dti::SkillProviderCallbackInterface
{
+ // There is by design no method to access the providerPrx. You should only communicate with the manager
+
void addProvider(dto::ProviderInfo providerInfo);
void removeProvider(string providerName);
- provider::dti::SkillProviderMap getSkillProviders();
- void executeSkill(dto::SkillExecutionInfo skillExecutionInfo);
+
+ dto::SkillDescriptionMapMap getSkillDescriptions();
+ dto::SkillStatusUpdateMapMap getSkillExecutionStatuses();
+
+ void executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
void abortSkill(string providerName, string skillName);
+
};
}
}
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index c6eec573654ae0b8a4a6b7811fe273eb189033ad..33fbf744fb2ec84fee801b980106ca80cc020fe9 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -25,6 +25,7 @@
#include <RobotAPI/interface/aron.ice>
+// We need to prototype the interface
module armarx
{
module skills
@@ -51,24 +52,25 @@ module armarx
sequence<string> StringList;
// Description of a skill. Needs to be sent to a skill manager or memory
- // A skill is nothing but a executable thing, which can be executed on one or more 'targets' (empty means all)
+ // A skill is nothing but a executable thing, which can be executed on one or more 'robots' (empty means all)
struct SkillDescription
{
string skillName; // the name of the skill
string description; // a human readable description of what the skill does
- StringList targets; // see above
+ StringList robots; // the names of the robotis that are able to eecute that skill
long timeoutMs; // in milliseconds
aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
+ aron::data::dto::Dict defaultParams; // the default parameterization used in GUI. nullptr if not set
};
dictionary<string, SkillDescription> SkillDescriptionMap;
// Inputs
- struct SkillExecutionInfo
+ struct SkillExecutionRequest
{
string skillName;
+ string requesterName;
aron::data::dto::Dict params;
callback::dti::SkillProviderCallbackInterface* callbackInterface; // use nullptr if you do not want to have callbacks
- bool waitUntilSkillFinished;
};
// The status enum of a skill
@@ -76,7 +78,7 @@ module armarx
{
enum Status
{
- Idle,
+ Idle, // a skill can only be idled if it has never been scheduled
Scheduled,
Running,
@@ -88,13 +90,18 @@ module armarx
}
// Status updates of a skill
- struct SkillStatusUpdate
+ struct SkillStatusUpdateHeader
{
- string providerName;
+ string providerName; // the name of the provider the skill is currently running on
string skillName;
aron::data::dto::Dict usedParams;
callback::dti::SkillProviderCallbackInterface* usedCallbackInterface;
Execution::Status status;
+ };
+
+ struct SkillStatusUpdate
+ {
+ SkillStatusUpdateHeader header;
aron::data::dto::Dict data; // can be anything
};
@@ -106,18 +113,24 @@ module armarx
interface SkillProviderInterface
{
- dto::SkillDescriptionMap getSkills();
+ dto::SkillDescription getSkillDescription(string name);
+ dto::SkillDescriptionMap getSkillDescriptions();
dto::SkillStatusUpdate getSkillExecutionStatus(string name);
- void executeSkill(dto::SkillExecutionInfo executionInfo);
- void abortSkill(string skill, bool waitUntilSkillFinished);
- };
+ dto::SkillStatusUpdateMap getSkillExecutionStatuses();
+
+ // execute skill will ALWAYS fully execute the skill and wait, until the skill is finished.
+ // Use the _begin() method, if you want to call a skill async
+ void executeSkill(dto::SkillExecutionRequest executionInfo);
- dictionary<string, SkillProviderInterface*> SkillProviderMap;
+ // try to kill a skill as soon as possible. When the skill is stopped depends on the implementation.
+ void abortSkill(string skill);
+ };
}
}
}
}
+
module armarx
{
module skills
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index d88919e229dc79870eae34729c4dfa1ca1666f08..21b71d9a2300a859275cfa57d581c99123efcb10 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -3,12 +3,14 @@ ARON DTO of armarx::objpose::ObjectPose.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+
<AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml>" autoinclude="true" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectType.xml" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/PoseManifoldGaussian.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name="armarx::objpose::arondto::ObjectAttachmentInfo">
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
index fd081a06376a3ada55ea163fc20af229c3cc92b2..84679a92c420257f7b072c749ba9b4dfb5eb5760 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
@@ -1,5 +1,6 @@
#include "armarx.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
void armarx::fromAron(const arondto::ObjectID& dto, ObjectID& bo)
{
@@ -7,21 +8,24 @@ void armarx::fromAron(const arondto::ObjectID& dto, ObjectID& bo)
}
void armarx::toAron(arondto::ObjectID& dto, const ObjectID& bo)
{
- dto.dataset = bo.dataset();
- dto.className = bo.className();
- dto.instanceName = bo.instanceName();
+ aron::toAron(dto.dataset, bo.dataset());
+ aron::toAron(dto.className, bo.className());
+ aron::toAron(dto.instanceName, bo.instanceName());
+
}
void armarx::fromAron(const armarx::arondto::PackagePath& dto, armarx::PackageFileLocation& bo)
{
- bo.package = dto.package;
- bo.relativePath = dto.path;
- bo.absolutePath = "";
+ aron::toAron(bo.package, dto.package);
+ aron::toAron(bo.relativePath, dto.path);
+ aron::toAron(bo.absolutePath, std::filesystem::path(""));
+
}
void armarx::toAron(armarx::arondto::PackagePath& dto, const armarx::PackageFileLocation& bo)
{
- dto.package = bo.package;
- dto.path = bo.relativePath;
+ aron::toAron(dto.package, bo.package);
+ aron::toAron(dto.path, bo.relativePath);
+
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index f21931adabf669f0da8804cf937fd6205c94248b..3f8f2d56bb4aa720cd3c37efa84d2910063c872b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -14,27 +14,31 @@
void armarx::objpose::fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo)
{
- bo.frameName = dto.frameName;
- bo.agentName = dto.agentName;
- bo.poseInFrame = dto.poseInFrame;
+ aron::fromAron(dto.frameName, bo.frameName);
+ aron::fromAron(dto.agentName, bo.agentName);
+ aron::fromAron(dto.poseInFrame, bo.poseInFrame);
+
}
void armarx::objpose::toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAttachmentInfo& bo)
{
- dto.frameName = bo.frameName;
- dto.agentName = bo.agentName;
- dto.poseInFrame = bo.poseInFrame;
+ aron::toAron(dto.frameName, bo.frameName);
+ aron::toAron(dto.agentName, bo.agentName);
+ aron::toAron(dto.poseInFrame, bo.poseInFrame);
+
}
void armarx::objpose::fromAron(const arondto::PoseManifoldGaussian& dto, PoseManifoldGaussian& bo)
{
- bo.mean = dto.mean;
- bo.covariance = dto.covariance;
+ aron::fromAron(dto.mean, bo.mean);
+ aron::fromAron(dto.covariance, bo.covariance);
+
}
void armarx::objpose::toAron(arondto::PoseManifoldGaussian& dto, const PoseManifoldGaussian& bo)
{
- dto.mean = bo.mean;
- dto.covariance = bo.covariance;
+ aron::toAron(dto.mean, bo.mean);
+ aron::toAron(dto.covariance, bo.covariance);
+
}
@@ -74,23 +78,23 @@ void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectType& bo)
void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
{
- bo.providerName = dto.providerName;
+ aron::fromAron(dto.providerName, bo.providerName);
fromAron(dto.objectType, bo.objectType);
- bo.isStatic = dto.isStatic;
+ aron::fromAron(dto.isStatic, bo.isStatic);
fromAron(dto.objectID, bo.objectID);
- bo.objectPoseRobot = dto.objectPoseRobot;
+ aron::fromAron(dto.objectPoseRobot, bo.objectPoseRobot);
aron::fromAron(dto.objectPoseRobotGaussian, bo.objectPoseRobotGaussian);
- bo.objectPoseGlobal = dto.objectPoseGlobal;
+ aron::fromAron(dto.objectPoseGlobal, bo.objectPoseGlobal);
aron::fromAron(dto.objectPoseGlobalGaussian, bo.objectPoseGlobalGaussian);
- bo.objectPoseOriginal = dto.objectPoseOriginal;
- bo.objectPoseOriginalFrame = dto.objectPoseOriginalFrame;
+ aron::fromAron(dto.objectPoseOriginal, bo.objectPoseOriginal);
+ aron::fromAron(dto.objectPoseOriginalFrame, bo.objectPoseOriginalFrame);
aron::fromAron(dto.objectPoseOriginalGaussian, bo.objectPoseOriginalGaussian);
+ aron::fromAron(dto.objectJointValues, bo.objectJointValues);
- bo.objectJointValues = dto.objectJointValues;
+ aron::fromAron(dto.robotConfig, bo.robotConfig);
+ aron::fromAron(dto.robotPose, bo.robotPose);
- bo.robotConfig = dto.robotConfig;
- bo.robotPose = dto.robotPose;
if (dto.attachmentValid)
{
@@ -101,10 +105,9 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
{
bo.attachment = std::nullopt;
}
+ aron::fromAron(dto.confidence, bo.confidence);
+ aron::fromAron(dto.timestamp, bo.timestamp);
- bo.confidence = dto.confidence;
-
- fromAron(dto.timestamp, bo.timestamp);
if (dto.localOOBBValid)
{
@@ -120,25 +123,24 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
{
- dto.providerName = bo.providerName;
+ aron::toAron(dto.providerName, bo.providerName);
toAron(dto.objectType, bo.objectType);
- dto.isStatic = bo.isStatic;
+ aron::toAron(dto.isStatic, bo.isStatic);
toAron(dto.objectID, bo.objectID);
- dto.objectPoseRobot = bo.objectPoseRobot;
+ aron::toAron(dto.objectPoseRobot, bo.objectPoseRobot);
aron::toAron(dto.objectPoseRobotGaussian, bo.objectPoseRobotGaussian);
-
- dto.objectPoseGlobal = bo.objectPoseGlobal;
+ aron::toAron(dto.objectPoseGlobal, bo.objectPoseGlobal);
aron::toAron(dto.objectPoseGlobalGaussian, bo.objectPoseGlobalGaussian);
-
- dto.objectPoseOriginal = bo.objectPoseOriginal;
- dto.objectPoseOriginalFrame = bo.objectPoseOriginalFrame;
+ aron::toAron(dto.objectPoseOriginal, bo.objectPoseOriginal);
+ aron::toAron(dto.objectPoseOriginalFrame, bo.objectPoseOriginalFrame);
aron::toAron(dto.objectPoseOriginalGaussian, bo.objectPoseOriginalGaussian);
- dto.objectJointValues = bo.objectJointValues;
+ aron::toAron(dto.objectJointValues, bo.objectJointValues);
+
+ aron::toAron(dto.robotConfig, bo.robotConfig);
+ aron::toAron(dto.robotPose, bo.robotPose);
- dto.robotConfig = bo.robotConfig;
- dto.robotPose = bo.robotPose;
if (bo.attachment)
{
@@ -151,9 +153,8 @@ void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
toAron(dto.attachment, ObjectAttachmentInfo());
}
- dto.confidence = bo.confidence;
-
- toAron(dto.timestamp, bo.timestamp);
+ aron::toAron(dto.confidence, bo.confidence);
+ aron::toAron(dto.timestamp, bo.timestamp);
if (bo.localOOBB)
{
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index a75412cacca8c922714604ac68ff619c7673f4d5..c17efd18644d5b515170b714d263f4b37a194f25 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -50,6 +50,8 @@ set(LIB_FILES
core/error/ArMemError.cpp
core/error/mns.cpp
+ core/query/DataMode.cpp
+ core/query/QueryTarget.cpp
client/MemoryNameSystem.cpp
client/Reader.cpp
@@ -83,7 +85,6 @@ set(LIB_HEADERS
core/actions.h
core/Commit.h
core/container_maps.h
- core/DataMode.h
core/MemoryID.h
core/MemoryID_operators.h
core/operations.h
@@ -100,6 +101,10 @@ set(LIB_HEADERS
core/error/ArMemError.h
core/error/mns.h
+ core/query.h
+ core/query/DataMode.h
+ core/query/QueryTarget.h
+
core/base/detail/MemoryItem.h
core/base/detail/MemoryContainerBase.h
core/base/detail/AronTyped.h
diff --git a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
index 3f04e393abf0c07747cdebd8288ca655f169e7c5..11060aebdcb96e2283b1f9c3adc54946c03bb3d1 100644
--- a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
+++ b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::MemoryLink" template="T">
<ObjectChild key="memoryID">
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index aeb21e97f5420e3394f17f0ff4ec8ceb7a02ae2c..b6a66fb7d7aa6b52a760e057167e2ee0cb2b0800 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -47,13 +47,13 @@ namespace armarx::armem
void client::toIce(armem::query::data::Input& ice, const QueryInput& input)
{
ice.memoryQueries = input.memoryQueries;
- toIce(ice.withData, (input.dataMode == DataMode::WithData));
+ toIce(ice.withData, (input.dataMode == armem::query::DataMode::WithData));
}
void client::fromIce(const armem::query::data::Input& ice, QueryInput& input)
{
input.memoryQueries = ice.memoryQueries;
- input.dataMode = (ice.withData ? DataMode::WithData : DataMode::NoData);
+ input.dataMode = (ice.withData ? armem::query::DataMode::WithData : armem::query::DataMode::NoData);
}
void client::toIce(armem::query::data::Result& ice, const QueryResult& result)
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 56b9caa79b06bf598836a8cb4df5ab492177604a..bee999f073bc57cd53db0b9031cba9feee1cfbb7 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -5,7 +5,8 @@
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
@@ -26,71 +27,7 @@ namespace armarx::armem::client
struct QueryInput
{
armem::query::data::MemoryQuerySeq memoryQueries;
- DataMode dataMode;
-
- void addQueryTargetToAll(const armem::query::data::QueryTarget t)
- {
- for (const auto& memoryQuery : memoryQueries)
- {
- if (std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), t) == memoryQuery->targets.end())
- {
- memoryQuery->targets.push_back(t);
- }
- for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
- {
- if (std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), t) == coreSegmentQuery->targets.end())
- {
- coreSegmentQuery->targets.push_back(t);
- }
- for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
- {
- if (std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), t) == providerSegmentQuery->targets.end())
- {
- providerSegmentQuery->targets.push_back(t);
- }
- for (const auto& entityQuery : providerSegmentQuery->entityQueries)
- {
- if (std::find(entityQuery->targets.begin(), entityQuery->targets.end(), t) == entityQuery->targets.end())
- {
- entityQuery->targets.push_back(t);
- }
- }
- }
- }
- }
- }
-
- void replaceQueryTarget(const armem::query::data::QueryTarget search, const armem::query::data::QueryTarget replace)
- {
- for (const auto& memoryQuery : memoryQueries)
- {
- if (auto it = std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), search); it != memoryQuery->targets.end())
- {
- memoryQuery->targets.push_back(replace);
- }
- for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
- {
- if (auto it = std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), search); it != coreSegmentQuery->targets.end())
- {
- coreSegmentQuery->targets.push_back(replace);
- }
- for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
- {
- if (auto it = std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), search); it != providerSegmentQuery->targets.end())
- {
- providerSegmentQuery->targets.push_back(replace);
- }
- for (const auto& entityQuery : providerSegmentQuery->entityQueries)
- {
- if (auto it = std::find(entityQuery->targets.begin(), entityQuery->targets.end(), search); it != entityQuery->targets.end())
- {
- entityQuery->targets.push_back(replace);
- }
- }
- }
- }
- }
- }
+ armem::query::DataMode dataMode;
static QueryInput fromIce(const armem::query::data::Input& ice);
armem::query::data::Input toIce() const;
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 9fb03536bbef6047d96baf6203893ad9cc9f78ed..872f4b7dd317366e5678980583623c4f68e62c3b 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -58,13 +58,13 @@ namespace armarx::armem::client
}
- QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, DataMode dataMode) const
+ QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, armem::query::DataMode dataMode) const
{
return this->query(armem::query::data::MemoryQuerySeq{query}, dataMode);
}
- QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode) const
+ QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries, armem::query::DataMode dataMode) const
{
QueryInput input;
input.memoryQueries = queries;
@@ -277,7 +277,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode) const
+ QueryResult Reader::queryMemoryIDs(const std::vector<MemoryID>& ids, armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
@@ -330,7 +330,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode) const
+ QueryResult Reader::getLatestSnapshotsIn(const MemoryID& id, armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
if (!id.isWellDefined())
@@ -357,7 +357,7 @@ namespace armarx::armem::client
}
- std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, DataMode dataMode) const
+ std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, armem::query::DataMode dataMode) const
{
client::QueryResult result = getLatestSnapshotsIn(id, dataMode);
if (result.success)
@@ -385,7 +385,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getAllLatestSnapshots(DataMode dataMode) const
+ QueryResult Reader::getAllLatestSnapshots(armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
@@ -396,7 +396,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getAll(DataMode dataMode) const
+ QueryResult Reader::getAll(armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
@@ -406,14 +406,13 @@ namespace armarx::armem::client
return this->query(qb);
}
-
- data::StoreResult
- Reader::readAndStore(const data::StoreInput& input) const
+ server::dto::DirectlyStoreResult
+ Reader::directlyStore(const server::dto::DirectlyStoreInput& input) const
{
- server::StoringMemoryInterfacePrx storingMemoryPrx = server::StoringMemoryInterfacePrx::checkedCast(readingPrx);
+ server::RecordingMemoryInterfacePrx storingMemoryPrx = server::RecordingMemoryInterfacePrx::checkedCast(readingPrx);
if (storingMemoryPrx)
{
- return storingMemoryPrx->store(input);
+ return storingMemoryPrx->directlyStore(input);
}
else
{
@@ -422,6 +421,35 @@ namespace armarx::armem::client
}
}
+ void Reader::startRecording() const
+ {
+ server::RecordingMemoryInterfacePrx storingMemoryPrx = server::RecordingMemoryInterfacePrx::checkedCast(readingPrx);
+ if (storingMemoryPrx)
+ {
+ server::dto::StartRecordInput i; // WHAT TO PUT HERE?
+ storingMemoryPrx->startRecord(i);
+ return;
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not store a query into the LTM. It seems like the Memory does not implement the StoringMemoryInterface.";
+ }
+ }
+
+ void Reader::stopRecording() const
+ {
+ server::RecordingMemoryInterfacePrx storingMemoryPrx = server::RecordingMemoryInterfacePrx::checkedCast(readingPrx);
+ if (storingMemoryPrx)
+ {
+ storingMemoryPrx->stopRecord();
+ return;
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not store a query into the LTM. It seems like the Memory does not implement the StoringMemoryInterface.";
+ }
+ }
+
void
Reader::setReadingMemory(server::ReadingMemoryInterfacePrx readingMemory)
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 7ecb453c845524edce1a217c49db671efbf3c9e7..8f78b33ec9db5f54d93e5f341f7b64be538679f8 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -7,7 +7,7 @@
// RobotAPI
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
-#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
+#include <RobotAPI/interface/armem/server/RecordingMemoryInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
@@ -40,8 +40,8 @@ namespace armarx::armem::client
QueryResult query(const QueryInput& input) const;
armem::query::data::Result query(const armem::query::data::Input& input) const;
- QueryResult query(armem::query::data::MemoryQueryPtr query, DataMode dataMode = DataMode::WithData) const;
- QueryResult query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode = DataMode::WithData) const;
+ QueryResult query(armem::query::data::MemoryQueryPtr query, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
+ QueryResult query(const armem::query::data::MemoryQuerySeq& queries, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
QueryResult query(const QueryBuilder& queryBuilder) const;
@@ -113,7 +113,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode = DataMode::WithData) const;
+ queryMemoryIDs(const std::vector<MemoryID>& ids, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -132,7 +132,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+ getLatestSnapshotsIn(const MemoryID& id, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
* @brief Get the latest snapshot under the given memory ID.
@@ -141,7 +141,7 @@ namespace armarx::armem::client
* @return The latest contained snapshot, if any.
*/
std::optional<wm::EntitySnapshot>
- getLatestSnapshotIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+ getLatestSnapshotIn(const MemoryID& id, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -150,7 +150,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getAllLatestSnapshots(DataMode dataMode = DataMode::WithData) const;
+ getAllLatestSnapshots(armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -159,11 +159,12 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getAll(DataMode dataMode = DataMode::WithData) const;
+ getAll(armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
- //data::StoreResult readAndStore(data::StoreInputSeq& input);
- data::StoreResult readAndStore(const data::StoreInput& input) const;
+ server::dto::DirectlyStoreResult directlyStore(const server::dto::DirectlyStoreInput& input) const;
+ void startRecording() const;
+ void stopRecording() const;
/**
* @brief Get a prediction for the state of multiple entity instances in the future.
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.cpp b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
index 2a31828717f34906875bdbb8a17c62719b675331..ff6300d5673b76b0a1cdb9757dbf4f72dce5b152 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem::client::query
{
- Builder::Builder(DataMode dataMode) : dataMode(dataMode)
+ Builder::Builder(armem::query::DataMode dataMode, armem::query::QueryTarget target) : dataMode(dataMode), queryTarget(target)
{
}
@@ -27,7 +27,7 @@ namespace armarx::armem::client::query
{
for (armem::query::data::MemoryQueryPtr& query : child.buildQueries())
{
- query->targets = _targets;
+ toIce(query->target, queryTarget);
memoryQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.h b/source/RobotAPI/libraries/armem/client/query/Builder.h
index 90d3e211ac9e776f061695420392b765bac1aac2..c4a33bc7a20f6abdc5356e9c65ea93eb2f97dd4e 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.h
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.h
@@ -1,8 +1,6 @@
#pragma once
#include <RobotAPI/interface/armem/query.h>
-
-#include <RobotAPI/libraries/armem/core/DataMode.h>
#include <RobotAPI/libraries/armem/client/Query.h>
#include "selectors.h"
@@ -10,7 +8,6 @@
namespace armarx::armem::client::query
{
-
// ToDo: Make a memory selector (but this level is not in ice, yet)
/**
* @brief The query::Builder class provides a fluent-style specification of
@@ -27,7 +24,7 @@ namespace armarx::armem::client::query
{
public:
- Builder(DataMode dataMode = DataMode::WithData);
+ Builder(armem::query::DataMode dataMode = armem::query::DataMode::WithData, armem::query::QueryTarget target = armem::query::QueryTarget::WM);
/// Start specifying core segments.
CoreSegmentSelector& coreSegments();
@@ -71,7 +68,8 @@ namespace armarx::armem::client::query
public:
- DataMode dataMode;
+ armem::query::DataMode dataMode;
+ armem::query::QueryTarget queryTarget;
};
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
index ee004f1b819769df41615b2bfa0706e68772d5ca..79f501fe4e370185eaae7f7b18b34ec903b8cc85 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
@@ -12,6 +12,7 @@ namespace armarx::armem::client::query::detail
{
public:
+ NameSelectorOps() = default;
virtual ~NameSelectorOps() = default;
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
index aa354b42ff993f2e669b9fada2441a788b938081..95388b1393db0e13023fe18fbcbd905625397f71 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
@@ -18,13 +18,9 @@ namespace armarx::armem::client::query::detail
using DerivedT = _DerivedT;
using QueryT = _QueryT;
- ChildSelectorOps() = delete;
+ ChildSelectorOps() = default;
virtual ~ChildSelectorOps() = default;
- ChildSelectorOps(const armem::query::data::QueryTargets& p) :
- _parentTargets(p)
- {}
-
virtual DerivedT& all() = 0;
virtual DerivedT& withID(const MemoryID& id) = 0;
@@ -42,9 +38,6 @@ namespace armarx::armem::client::query::detail
}
}
- protected:
- armem::query::data::QueryTargets _parentTargets;
-
protected:
@@ -93,18 +86,11 @@ namespace armarx::armem::client::query::detail
public:
virtual ~ParentSelectorOps() = default;
- /// QueryTargets for this query
- DerivedT& queryTargets(const armem::query::data::QueryTargets& targets)
- {
- this->_targets = targets;
- return dynamic_cast<DerivedT&>(*this);
- }
-
protected:
ChildT& _addChild()
{
- return _children.emplace_back(_targets);
+ return _children.emplace_back();
}
ChildT& _addChild(const ChildT& child)
{
@@ -121,7 +107,6 @@ namespace armarx::armem::client::query::detail
std::vector<ChildT> _children;
- armem::query::data::QueryTargets _targets = {armem::query::data::QueryTarget::WM}; // if not specified we only query the WM
};
@@ -133,27 +118,15 @@ namespace armarx::armem::client::query::detail
{
public:
- InnerSelectorOps(const armem::query::data::QueryTargets& p) :
- ChildSelectorOps<DerivedT, QueryT>(p)
- {}
+ InnerSelectorOps() = default;
virtual std::vector<QueryT> buildQueries() const
{
- // check own query targets and parent query targets
- for (const auto& target : this->_targets)
- {
- if (std::find(this->_parentTargets.begin(), this->_parentTargets.end(), target) == this->_parentTargets.end())
- {
- // TODO: Error, this makes no sense! or just ignore?
- }
- }
-
std::vector<typename ChildT::QueryT> childQueries;
for (const auto& child : this->_children)
{
for (auto& query : child.buildQueries())
{
- query->targets = this->_targets;
childQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.h b/source/RobotAPI/libraries/armem/client/query/selectors.h
index b9c257dc6dd5ae1ec07fd7850322d8babef829e4..cf67e44e1823d335b6e1f89b657c7bb15c49e418 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.h
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.h
@@ -15,9 +15,7 @@ namespace armarx::armem::client::query
{
public:
- SnapshotSelector(const armem::query::data::QueryTargets& p) :
- detail::ChildSelectorOps<SnapshotSelector, armem::query::data::EntityQueryPtr>(p)
- {}
+ SnapshotSelector() = default;
armem::query::data::EntityQuerySeq buildQueries() const;
@@ -48,9 +46,7 @@ namespace armarx::armem::client::query
{
public:
- EntitySelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<EntitySelector, armem::query::data::ProviderSegmentQueryPtr, SnapshotSelector>(p)
- {}
+ EntitySelector() = default;
/// Start specifying entity snapshots.
SnapshotSelector& snapshots();
@@ -87,9 +83,7 @@ namespace armarx::armem::client::query
{
public:
- ProviderSegmentSelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<ProviderSegmentSelector, armem::query::data::CoreSegmentQueryPtr, EntitySelector>(p)
- {}
+ ProviderSegmentSelector() = default;
/// Start specifying entities.
EntitySelector& entities();
@@ -126,9 +120,7 @@ namespace armarx::armem::client::query
{
public:
- CoreSegmentSelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<CoreSegmentSelector, armem::query::data::MemoryQueryPtr, ProviderSegmentSelector>(p)
- {}
+ CoreSegmentSelector() = default;
/// Start specifying provider segments.
ProviderSegmentSelector& providerSegments();
diff --git a/source/RobotAPI/libraries/armem/core.h b/source/RobotAPI/libraries/armem/core.h
index 11abe789b8cd0aef6ab2d9017c96cb1237cc5040..58ef0c64aca0216cabd11b3091841f5ab0f25f6b 100644
--- a/source/RobotAPI/libraries/armem/core.h
+++ b/source/RobotAPI/libraries/armem/core.h
@@ -2,7 +2,7 @@
#include "core/error.h"
#include "core/Commit.h"
-#include "core/DataMode.h"
+#include "core/query.h"
#include "core/MemoryID.h"
#include "core/Time.h"
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
index 62ff85270b07c63907d6a264eee2f73fb0d3c472..575b15314fb4fd4095ccade3db8b436e09b5e5af 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
@@ -1,28 +1,30 @@
#include "aron_conversions.h"
-#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
void armarx::armem::fromAron(const arondto::MemoryID& dto, MemoryID& bo)
{
- bo.memoryName = dto.memoryName;
- bo.coreSegmentName = dto.coreSegmentName;
- bo.providerSegmentName = dto.providerSegmentName;
- bo.entityName = dto.entityName;
- fromAron(dto.timestamp, bo.timestamp);
- bo.instanceIndex = dto.instanceIndex;
+ aron::fromAron(dto.memoryName, bo.memoryName);
+ aron::fromAron(dto.coreSegmentName, bo.coreSegmentName);
+ aron::fromAron(dto.providerSegmentName, bo.providerSegmentName);
+ aron::fromAron(dto.entityName, bo.entityName);
+ aron::fromAron(dto.timestamp, bo.timestamp);
+ aron::fromAron(dto.instanceIndex, bo.instanceIndex);
+
}
void armarx::armem::toAron(arondto::MemoryID& dto, const MemoryID& bo)
{
- dto.memoryName = bo.memoryName;
- dto.coreSegmentName = bo.coreSegmentName;
- dto.providerSegmentName = bo.providerSegmentName;
- dto.entityName = bo.entityName;
- toAron(dto.timestamp, bo.timestamp);
- dto.instanceIndex = bo.instanceIndex;
+ aron::toAron(dto.memoryName, bo.memoryName);
+ aron::toAron(dto.coreSegmentName, bo.coreSegmentName);
+ aron::toAron(dto.providerSegmentName, bo.providerSegmentName);
+ aron::toAron(dto.entityName, bo.entityName);
+ aron::toAron(dto.timestamp, bo.timestamp);
+ aron::toAron(dto.instanceIndex, bo.instanceIndex);
+
}
std::ostream& armarx::armem::arondto::operator<<(std::ostream& os, const MemoryID& rhs)
diff --git a/source/RobotAPI/libraries/armem/core/query.h b/source/RobotAPI/libraries/armem/core/query.h
new file mode 100644
index 0000000000000000000000000000000000000000..975361744ba134477cdd4600b10ba6c4a8bacf62
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "query/DataMode.h"
+#include "query/QueryTarget.h"
+
+
+namespace armarx::armem::query
+{
+
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/query/DataMode.cpp b/source/RobotAPI/libraries/armem/core/query/DataMode.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..07877d2dcbf2333e08bf5233146c3f3481d166f2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/DataMode.cpp
@@ -0,0 +1,9 @@
+#include "DataMode.h"
+
+namespace armarx::armem::query
+{
+ DataMode boolToDataMode(bool withData)
+ {
+ return withData ? DataMode::WithData : DataMode::NoData;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/DataMode.h b/source/RobotAPI/libraries/armem/core/query/DataMode.h
similarity index 70%
rename from source/RobotAPI/libraries/armem/core/DataMode.h
rename to source/RobotAPI/libraries/armem/core/query/DataMode.h
index d2e80cac260f417b67c7acc342c7d14d016eff2a..0bcd7be091aeb5766a248400bd0767f8e36f95b7 100644
--- a/source/RobotAPI/libraries/armem/core/DataMode.h
+++ b/source/RobotAPI/libraries/armem/core/query/DataMode.h
@@ -1,7 +1,7 @@
#pragma once
-namespace armarx::armem
+namespace armarx::armem::query
{
enum class DataMode
@@ -10,4 +10,5 @@ namespace armarx::armem
WithData, ///< Get structure and ARON data.
};
+ DataMode boolToDataMode(bool withData);
}
diff --git a/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp b/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e66a41907a55ff0e91e111cc60a60d157f1e4182
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp
@@ -0,0 +1,21 @@
+#include "QueryTarget.h"
+
+namespace armarx::armem::query
+{
+ void toIce(armem::query::data::QueryTarget::QueryTargetEnum& ice, const QueryTarget bo)
+ {
+ switch(bo)
+ {
+ case QueryTarget::WM: ice = armem::query::data::QueryTarget::WM; break;
+ case QueryTarget::WM_LTM: ice = armem::query::data::QueryTarget::WM_LTM; break;
+ }
+ }
+ void fromIce(const armem::query::data::QueryTarget::QueryTargetEnum ice, QueryTarget& bo)
+ {
+ switch(ice)
+ {
+ case armem::query::data::QueryTarget::WM: bo = QueryTarget::WM; break;
+ case armem::query::data::QueryTarget::WM_LTM: bo = QueryTarget::WM_LTM; break;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/query/QueryTarget.h b/source/RobotAPI/libraries/armem/core/query/QueryTarget.h
new file mode 100644
index 0000000000000000000000000000000000000000..304157213e22296358b857b225a1421ed44095b1
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/QueryTarget.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/query.h>
+
+namespace armarx::armem::query
+{
+
+ enum class QueryTarget
+ {
+ WM,
+ WM_LTM
+ };
+ void toIce(armem::query::data::QueryTarget::QueryTargetEnum& ice, const QueryTarget bo);
+ void fromIce(const armem::query::data::QueryTarget::QueryTargetEnum ice, QueryTarget& bo);
+}
diff --git a/source/RobotAPI/libraries/armem/server/CMakeLists.txt b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
index 34b02a4da78015ccdb32398a3f1de7f42c0311e3..6d44b25f7e2a416df134df83a0efd170c5a99333 100644
--- a/source/RobotAPI/libraries/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
@@ -29,7 +29,7 @@ set(LIBS
ArmarXCoreInterfaces
ArmarXCore
RemoteGui
- aron
+ RobotAPI::aron
RobotAPI::armem
# LTM
@@ -45,6 +45,9 @@ set(LIB_FILES
MemoryRemoteGui.cpp
RemoteGuiAronDataVisitor.cpp
+ ltm/io/Recording.cpp
+ ltm/io/Replaying.cpp
+
ltm/base/detail/Processors.cpp
ltm/base/detail/MemoryItem.cpp
ltm/base/detail/MemoryBase.cpp
@@ -125,6 +128,9 @@ set(LIB_HEADERS
MemoryRemoteGui.h
RemoteGuiAronDataVisitor.h
+ ltm/io/Recording.h
+ ltm/io/Replaying.h
+
ltm/base/detail/Processors.h
ltm/base/detail/MemoryItem.h
ltm/base/detail/MemoryBase.h
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index a10a398186c73734a841dbf3e40cf8db11987769..93673c8aa7acea663f8a2dc5c21f9b7384de435f 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -7,6 +7,8 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -193,7 +195,7 @@ namespace armarx::armem::server
}
// Consollidate to ltm
- if (longtermMemory->enabled)
+ if (longtermMemory->isRecording())
{
//ARMARX_IMPORTANT << longtermMemory->id().str();
//ARMARX_IMPORTANT << longtermMemory->getPath();
@@ -267,42 +269,42 @@ namespace armarx::armem::server
ARMARX_CHECK_NOT_NULL(longtermMemory);
// Core segment processors will aquire the core segment locks.
- query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(
- input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- armem::wm::Memory wmResult = wmServerProcessor.process(input.memoryQueries, *workingMemory);
+ query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(armem::query::boolToDataMode(input.withData));
+ armem::wm::Memory wmResult = wmServerProcessor.process(input, *workingMemory);
armem::query::data::Result result;
- if (longtermMemory->enabled)
- {
- query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
- armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
-
- if (not ltmResult.empty())
- {
- ARMARX_INFO << "The LTM returned data after query";
+ query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
+ armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
- longtermMemory->resolve(ltmResult); // convert memory ==> meaning resolving references
-
- wmResult.append(ltmResult);
- if (wmResult.empty())
- {
- ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
- }
+ if (not ltmResult.empty())
+ {
+ ARMARX_INFO << "The LTM returned data after query";
- // query again to limit output size (TODO: Skip if querytype is all)
- auto queryInput = armem::client::QueryInput::fromIce(input);
- queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
+ // convert memory ==> meaning resolving references
+ // upon query, the LTM only returns a structure of the data (memory without data)
+ longtermMemory->resolve(ltmResult);
- query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
- input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- wmResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
- if (wmResult.empty())
- {
- ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
- }
+ // append result to return memory and sanity check
+ wmResult.append(ltmResult);
+ if (wmResult.empty())
+ {
+ ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
+ }
- // also move results of ltm to wm
+ // Ist das wirklich notwendig?
+ // query again to limit output size (TODO: Skip if querytype is all)
+ //auto queryInput = armem::client::QueryInput::fromIce(input);
+ //query_proc::wm::MemoryQueryProcessor wm2wmProcessor(armem::query::boolToDataMode(input.withData));
+ //wmResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ //if (wmResult.empty())
+ //{
+ // ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
+ //}
+
+ if (longtermMemory->isRecording())
+ {
+ // TODO: also move results of ltm to wm
//this->commit(toCommit(ltm_converted));
// mark removed entries of wm in viewer
@@ -328,37 +330,104 @@ namespace armarx::armem::server
return client::QueryResult::fromIce(query(input.toIce()));
}
-
- // LTM LOADING FROM LTM
-
- // LTM STORING
- data::StoreResult MemoryToIceAdapter::store(const armem::data::StoreInput& input)
+ armem::structure::data::GetServerStructureResult MemoryToIceAdapter::getServerStructure()
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
ARMARX_CHECK_NOT_NULL(longtermMemory);
- data::StoreResult output;
+ armem::structure::data::GetServerStructureResult ret;
+ ret.success = true;
+
+ wm::Memory structure;
+ structure.id() = workingMemory->id();
- for (const auto& query : input.query.memoryQueries)
+ // Get all info from the WM
+ client::QueryBuilder builder(armem::query::DataMode::NoData);
+ builder.all();
+ auto query_result = this->query(builder.buildQueryInput());
+ if (query_result.success)
{
- // force query to only query WM
- // TODO: Think about other query class (fabian.peller)
- query->targets = {query::data::QueryTarget::WM};
+ structure.append(query_result.memory);
}
- armem::query::data::Result queryResult = this->query(input.query);
- output.success = queryResult.success;
+ // Get all info from the LTM
+ structure.append(longtermMemory->loadAllReferences());
- if (queryResult.success)
- {
- armem::wm::Memory m = armarx::fromIce<armem::wm::Memory>(queryResult.memory);
- longtermMemory->store(m);
- }
+ ret.serverStructure = armarx::toIce<data::MemoryPtr>(structure);
+
+ return ret;
+ }
+
+
+ // LTM LOADING FROM LTM
+
+ // LTM STORING AND RECORDING
+ dto::DirectlyStoreResult MemoryToIceAdapter::directlyStore(const dto::DirectlyStoreInput& directlStoreInput)
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+
+ dto::DirectlyStoreResult output;
+ output.success = true;
+
+ armem::wm::Memory m = armarx::fromIce<armem::wm::Memory>(directlStoreInput.memory);
+ longtermMemory->store(m);
return output;
}
+ dto::StartRecordResult MemoryToIceAdapter::startRecord(const dto::StartRecordInput& startRecordInput)
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_IMPORTANT << "Enabling the recording of memory " << longtermMemory->id().str();
+ longtermMemory->startRecording();
+
+ dto::StartRecordResult ret;
+ ret.success = true;
+
+ return ret;
+ }
+
+ dto::StopRecordResult MemoryToIceAdapter::stopRecord()
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_IMPORTANT << "Disabling the recording of memory " << longtermMemory->id().str();
+ longtermMemory->stopRecording();
+
+ dto::StopRecordResult ret;
+ ret.success = true;
+
+ return ret;
+ }
+
+ dto::RecordStatusResult MemoryToIceAdapter::getRecordStatus()
+ {
+ dto::RecordStatusResult ret;
+ ret.success = true;
+
+ long savedSnapshots;
+ long totalSnapshots;
+ longtermMemory->forEachCoreSegment([&savedSnapshots, &totalSnapshots](const auto& c){
+ c.forEachProviderSegment([&savedSnapshots, &totalSnapshots](const auto& p){
+ p.forEachEntity([&savedSnapshots, &totalSnapshots](const auto& e){
+ savedSnapshots += e.getStatistics().recordedSnapshots;
+
+ e.forEachSnapshot([&totalSnapshots](const auto&){
+ totalSnapshots++;
+ });
+ });
+ });
+ });
+
+ ret.status.savedSnapshots = savedSnapshots;
+ ret.status.totalSnapshots = totalSnapshots;
+
+ return ret;
+ }
+
// PREDICTION
prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
{
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 96c1e822d6f4150c6e341bd5c0d234f57efec2b5..6f19796395d85a1ff043e46c2172cba0940e5808 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -46,11 +46,15 @@ namespace armarx::armem::server
// READING
query::data::Result query(const armem::query::data::Input& input);
client::QueryResult query(const client::QueryInput& input);
+ armem::structure::data::GetServerStructureResult getServerStructure();
- // LTM LOADING
+ // LTM LOADING AND REPLAYING
- // LTM STORING
- data::StoreResult store(const armem::data::StoreInput& input);
+ // LTM STORING AND RECORDING
+ dto::DirectlyStoreResult directlyStore(const dto::DirectlyStoreInput& directlStoreInput);
+ dto::StartRecordResult startRecord(const dto::StartRecordInput& startRecordInput);
+ dto::StopRecordResult stopRecord();
+ dto::RecordStatusResult getRecordStatus();
// PREDICTION
prediction::data::EngineSupportMap getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
index a2b2df04565bbe7940cbcc37fa5e49166d554df6..8cb070f09d46f4f7ce4bc069920f082c30ba1763 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
@@ -15,7 +15,7 @@ namespace armarx::armem::server::ltm
{
public:
ImageConverter(const ConverterType t, const std::string& id, const std::string& s):
- Converter(t, id, s, aron::type::Descriptor::eImage)
+ Converter(t, id, s, aron::type::Descriptor::IMAGE)
{}
virtual ~ImageConverter() = default;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
index e5c8e9f80a04d7bba1b2bca9e79986d66fb2d84a..35f1a9d968221565184a823e3e57a20d83565546 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
@@ -15,7 +15,7 @@ namespace armarx::armem::server::ltm
{
public:
ObjectConverter(const ConverterType t, const std::string& id, const std::string& s):
- Converter(t, id, s, aron::type::Descriptor::eObject)
+ Converter(t, id, s, aron::type::Descriptor::OBJECT)
{}
virtual ~ObjectConverter() = default;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
index 4dade14f3b917b81eaf84721c998904f6b3b8be3..f61b4451d54b34b3aa0ddc330462a5ca884577f1 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
@@ -75,11 +75,9 @@ namespace armarx::armem::server::ltm
this->directlyStore(*to_store);
}
- virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix) override
+ /// configuration
+ virtual void configure()
{
- Base::createPropertyDefinitions(defs, prefix);
-
- defs->optional(storeFrequency, prefix + ".buffer.storeFreq", "Frequency to store the buffer to the LTM in Hz.").setMin(1).setMax(1000);
}
protected:
@@ -110,7 +108,7 @@ namespace armarx::armem::server::ltm
/// The periodic'task to store the content of the buffer to the ltm
typename armarx::PeriodicTask<BufferedMemoryBase>::pointer_type task = nullptr;
- /// The frequency to store data to the ltm
+ /// The frequency (Hz) to store data to the ltm
float storeFrequency = 10;
/// a mutex to access the buffer object
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
index d34d693af901d09d6cc7f8b9c045522e564501ec..b975b352f007c8ebd3364af641ef75c3a7fc6a08 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _ProviderSegmentT>
class CoreSegmentBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedProviderSegments = 0;
+
+ };
+
public:
using ProviderSegmentT = _ProviderSegmentT;
@@ -47,6 +54,16 @@ namespace armarx::armem::server::ltm
_storeType(coreSeg);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedProviderSegments = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all provider segments of this ltm
virtual bool forEachProviderSegment(std::function<void(ProviderSegmentT&)>&& func) const = 0;
@@ -73,5 +90,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
index 5f92e1a202d008d4bd6791a8527d9246812690d7..9dedb572fdc8b4ff31c6018f238009d45fde6763 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _EntitySnapshotT>
class EntityBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedSnapshots = 0;
+
+ };
+
public:
using EntitySnapshotT = _EntitySnapshotT;
@@ -41,6 +48,16 @@ namespace armarx::armem::server::ltm
_store(e);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedSnapshots = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all entity snapshots of this ltm
virtual bool forEachSnapshot(std::function<void(EntitySnapshotT&)>&& func) const = 0;
virtual bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshotT&)>&& func) const = 0;
@@ -68,5 +85,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
index 5ebca19436bade8482c4e60fcb1219db10282bc4..411dd43cca301fda3c835572406ea175d231c8b5 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
@@ -14,6 +14,13 @@ namespace armarx::armem::server::ltm
/// @brief Interface functions for the longterm memory classes
class EntitySnapshotBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedInstances = 0;
+
+ };
+
public:
using MemoryItem::MemoryItem;
@@ -32,19 +39,31 @@ namespace armarx::armem::server::ltm
}
/// encode the content of a wm::Memory and store
- void store(const armem::wm::EntitySnapshot& e) const
+ void store(const armem::wm::EntitySnapshot& e)
{
_store(e);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedInstances = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
static std::string getLevelName();
protected:
virtual void _loadAllReferences(armem::wm::EntitySnapshot&) const = 0;
virtual void _resolve(armem::wm::EntitySnapshot&) const = 0;
- virtual void _store(const armem::wm::EntitySnapshot&) const = 0;
+ virtual void _store(const armem::wm::EntitySnapshot&) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
index d7ec68da708f72cca8ad0655571c4a73d7f48d0a..35762b0ce146eac655480a7f7373ebb2d44f8721 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -25,6 +25,13 @@ namespace armarx::armem::server::ltm
template <class _CoreSegmentT>
class MemoryBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ armarx::core::time::DateTime lastEnabled = armarx::core::time::DateTime::Invalid();
+ long recordedCoreSegments = 0;
+ };
+
public:
using CoreSegmentT = _CoreSegmentT;
@@ -38,6 +45,20 @@ namespace armarx::armem::server::ltm
{
}
+ /// initialize config
+ void init()
+ {
+ // init without changing the memory id
+ init(this->id());
+ }
+ void init(const armem::MemoryID& wmMemoryId)
+ {
+ setMemoryID(wmMemoryId);
+
+ enabled = enabled_on_startup;
+ this->configure(nlohmann::json::parse(configuration_on_startup));
+ }
+
/// return the full ltm as a wm::Memory with only references
/// the ltm may be huge, use with caution
armem::wm::Memory loadAllReferences()
@@ -111,7 +132,43 @@ namespace armarx::armem::server::ltm
/// parameters
virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
- processors->createPropertyDefinitions(defs, prefix);
+ defs->optional(enabled_on_startup, prefix + ".enabled");
+ defs->optional(configuration_on_startup, prefix + ".configuration");
+ //processors->createPropertyDefinitions(defs, prefix);
+ }
+
+ /// configuration
+ virtual void configure(const nlohmann::json& config)
+ {
+ // Processors are shared. So we only need to configure the root
+ processors->configure(config);
+ }
+
+ /// enable/disable
+ void startRecording()
+ {
+ statistics.lastEnabled = armarx::core::time::DateTime::Now();
+ enabled = true;
+ }
+ void stopRecording()
+ {
+ enabled = false;
+ }
+ bool isRecording() const
+ {
+ return enabled;
+ }
+
+ /// statistics
+ virtual void resetStatistics()
+ {
+ // enabled stays the same
+ statistics.lastEnabled = armarx::core::time::DateTime::Invalid();
+ statistics.recordedCoreSegments = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
}
/// get level name
@@ -126,10 +183,17 @@ namespace armarx::armem::server::ltm
virtual void _store(const armem::wm::Memory& memory) = 0;
public:
- bool enabled = false;
+ // stuff for scenario parameters
+ bool enabled_on_startup = false;
+ std::string configuration_on_startup = "";
protected:
mutable std::recursive_mutex ltm_mutex;
+ Statistics statistics;
+
+ private:
+ std::atomic_bool enabled = false;
+
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
index 6e176bf7914c9d5dc59082f227206c313715c873..33934e1af67f1b1b11c72c54fdc43335a115fe42 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
@@ -14,22 +14,8 @@ namespace armarx::armem::server::ltm
converters.insert({exrConverter.identifier, &exrConverter});
}
- void Processors::createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
+ void Processors::configure(const nlohmann::json& config)
{
- // filters
- defs->optional(memFreqFilter.enabled, prefix + "memFreqFilter.Enabled");
- defs->optional(memFreqFilter.waitingTimeInMs, prefix + "memFreqFilter.WaitingTime", "Waiting time in MS after each LTM update.");
- defs->optional(snapFreqFilter.enabled, prefix + "snapFreqFilter.Enabled");
- defs->optional(snapFreqFilter.waitingTimeInMs, prefix + "snapFreqFilter.WaitingTime", "Waiting time in MS after each Entity update.");
- defs->optional(snapEqFilter.enabled, prefix + "snapEqFilter.Enabled");
- defs->optional(snapEqFilter.maxWaitingTimeInMs, prefix + "snapEqFilter.MaxWaitingTime", "Max Waiting time in MS after each Entity update.");
- // extractors
- defs->optional(imageExtractor.enabled, prefix + "imageExtractor.Enabled");
- defs->optional(depthImageExtractor.enabled, prefix + "depthImageExtractor.Enabled");
-
- // converters
- defs->optional(pngConverter.enabled, prefix + "pngConverter.Enabled");
- defs->optional(exrConverter.enabled, prefix + "exrConverter.Enabled");
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
index cc10b538d5f6b14af4e55fef61bb826508d4ec7d..43677cb9bb019fb61610ff977b0e57b2ce9b238a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
@@ -25,7 +25,7 @@ namespace armarx::armem::server::ltm
{
public:
Processors();
- void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix);
+ void configure(const nlohmann::json& config);
public:
// Unique Memory Filters
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
index b3c4be572317fa587b29864fe8981b5e11706cf1..b5aa8f0ee95711001d378f06ef5c674266dc021b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _EntityT>
class ProviderSegmentBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedEntities = 0;
+
+ };
+
public:
using EntityT = _EntityT;
@@ -47,6 +54,16 @@ namespace armarx::armem::server::ltm
_storeType(coreSeg);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedEntities = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all core segments of this ltm
virtual bool forEachEntity(std::function<void(EntityT&)>&& func) const = 0;
@@ -71,5 +88,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
index 4640cca47ec3401f8effc043536ac1f7244f93fb..e0b4c1c6a59c48f9dc144239d4023eb85370b347 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
@@ -10,7 +10,7 @@ namespace armarx::armem::server::ltm::extractor
auto dict = aron::data::Dict::DynamicCastAndCheck(data);
for (const auto& [key, child] : dict->getElements())
{
- if (child && child->getDescriptor() == aron::data::Descriptor::eNDArray)
+ if (child && child->getDescriptor() == aron::data::Descriptor::NDARRAY)
{
auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
auto shape = ndarray->getShape();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
index 09b305e3ca412be13f9b0bf3caf348273fba23e4..f7857c267f560159bce9d3e82aa230b103baf864 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::extractor
{
public:
DepthImageExtractor() :
- Extractor(aron::type::Descriptor::eImage, "depthimage")
+ Extractor(aron::type::Descriptor::IMAGE, "depthimage")
{
enabled = true;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
index c646a4f474019742d0db6094245543463ccc553c..767de1c5c2cb6ffc54ba90d421fbd95a03819197 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
@@ -10,7 +10,7 @@ namespace armarx::armem::server::ltm::extractor
auto dict = aron::data::Dict::DynamicCastAndCheck(data);
for (const auto& [key, child] : dict->getElements())
{
- if (child && child->getDescriptor() == aron::data::Descriptor::eNDArray)
+ if (child && child->getDescriptor() == aron::data::Descriptor::NDARRAY)
{
auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
auto shape = ndarray->getShape();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
index be9c80ba7d8138857aa54edefbb3d61a2d461e39..c8ef9669dea0e8d45ff0b7a100b276aa6c106b98 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::extractor
{
public:
ImageExtractor() :
- Extractor(aron::type::Descriptor::eImage, "image")
+ Extractor(aron::type::Descriptor::IMAGE, "image")
{
enabled = true;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index ee45273c7517d48e432b321144afc7a0bc0a364a..785276d04bd1e366be172ba7a07560a96a0c7755 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -126,6 +126,8 @@ namespace armarx::armem::server::ltm::disk
ProviderSegment c(memoryParentPath, id().withProviderSegmentName(prov.id().providerSegmentName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
+ statistics.recordedProviderSegments++;
+
c.storeType(prov);
c.store(prov);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index b64531211cff4343271561180dd312707f1f9847..6c87da45e576c10c18c6680141e00ed8c19aa3ba 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include "../base/filter/frequencyFilter/FrequencyFilter.h"
@@ -76,7 +77,33 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const
{
- throw LocalException("NOT IMPLEMENTED YET BECAUSE THE DIRECTORY ITERATOR IS UNSORTED!");
+ ARMARX_WARNING << "PLEASE NOTE THAT QUERYING THE LTM INDEX WISE MAY BE BUGGY BECAUSE THE FILESYSTEM ITERATOR IS UNSORTED!";
+
+ if (first < 0 or last < 0)
+ {
+ // We need to know what the size of the memory is... May be slow
+ unsigned long size = 0;
+ auto f = [&](EntitySnapshot& e)
+ {
+ size++;
+ };
+ forEachSnapshot(std::move(f));
+
+ first = armarx::armem::base::detail::negativeIndexSemantics(first, size);
+ last = armarx::armem::base::detail::negativeIndexSemantics(last, size);
+ }
+
+ long checked = 0;
+ auto f = [&](EntitySnapshot& e)
+ {
+ checked++;
+ if (checked >= first && checked <= last)
+ {
+ func(e);
+ }
+ };
+
+ return forEachSnapshot(std::move(f));
}
bool Entity::forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const
@@ -335,6 +362,9 @@ namespace armarx::armem::server::ltm::disk
EntitySnapshot c(memoryParentPath, id().withTimestamp(snap.id().timestamp), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode));
+
+ statistics.recordedSnapshots++;
+
c.store(snap);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index 3d43ea8a0b3540afb32863937f4d8114bc9b09cf..4d24c2e6bd15c0696bbbefd757db1fc4a895dbde 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -130,7 +130,7 @@ namespace armarx::armem::server::ltm::disk
}
}
- void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e) const
+ void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e)
{
//auto currentMaxExport = currentExport;
//auto encodingModeOfPast = currentMode;
@@ -215,6 +215,8 @@ namespace armarx::armem::server::ltm::disk
ARMARX_CHECK_EMPTY(dataVecModeSuffix);
ARMARX_CHECK_EMPTY(metadataVecModeSuffix);
+ statistics.recordedInstances++;
+
util::writeDataToFileRepeated(defaultMPath, relDataPath, dataVec);
util::writeDataToFileRepeated(defaultMPath, relMetadataPath, metadataVec);
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
index b91c69b78dca573935b7d51c665ca67e6b499fcc..aa72ea3e12e82e7f5787af2649b09a9cc29f0109 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
@@ -19,7 +19,7 @@ namespace armarx::armem::server::ltm::disk
protected:
void _loadAllReferences(armem::wm::EntitySnapshot&) const override;
void _resolve(armem::wm::EntitySnapshot&) const override;
- void _store(const armem::wm::EntitySnapshot&) const override;
+ void _store(const armem::wm::EntitySnapshot&) override;
private:
MemoryEncodingMode currentMode;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index 0eccbbf1a4435d301e05fea5ea0f64d2abf6eef0..0a85e4ac5c0b019d201fe9c633476f7c45cd81cd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -188,6 +188,8 @@ namespace armarx::armem::server::ltm::disk
CoreSegment c(memoryParentPath, id().withCoreSegmentName(core.id().coreSegmentName), processors, encodeModeOfPast, 0 /* how far to look back in past on enity level. For full lookup use maxExportIndex. */);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true); // create subfolder
+ statistics.recordedCoreSegments++;
+
// 1. store type
c.storeType(core);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index df52832d1bfdc35e4f19a35c220b2c232a97bdc5..ede13058b8a8abbca1eb348b3fa483234e4eae76 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -127,6 +127,9 @@ namespace armarx::armem::server::ltm::disk
{
Entity c(memoryParentPath, id().withEntityName(e.id().entityName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
+
+ statistics.recordedEntities++;
+
c.store(e);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..265a4f0f94c7463223985277f20e337b281220cc
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp
@@ -0,0 +1,181 @@
+#include "Recording.h"
+
+#include <ArmarXCore/core/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+
+#include <ArmarXCore/core/time/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
+namespace armarx::armem::server::ltm
+{
+ using armarx::fromIce;
+ using armarx::toIce;
+
+ /* ===========================
+ * DirectlyStoreInput
+ * =========================== */
+ DirectlyStoreInput DirectlyStoreInput::fromIce(const dto::DirectlyStoreInput& ice)
+ {
+ return armarx::fromIce<DirectlyStoreInput>(ice);
+ }
+ dto::DirectlyStoreInput DirectlyStoreInput::toIce() const
+ {
+ return armarx::toIce<dto::DirectlyStoreInput>(*this);
+ }
+ void toIce(dto::DirectlyStoreInput& ice, const DirectlyStoreInput& result)
+ {
+ toIce(ice.memory, result.memory);
+ }
+ void fromIce(const dto::DirectlyStoreInput& ice, DirectlyStoreInput& result)
+ {
+ fromIce(ice.memory, result.memory);
+ }
+
+ /* ===========================
+ * DirectlyStoreResult
+ * =========================== */
+ DirectlyStoreResult DirectlyStoreResult::fromIce(const dto::DirectlyStoreResult& ice)
+ {
+ return armarx::fromIce<DirectlyStoreResult>(ice);
+ }
+ dto::DirectlyStoreResult DirectlyStoreResult::toIce() const
+ {
+ return armarx::toIce<dto::DirectlyStoreResult>(*this);
+ }
+ void toIce(dto::DirectlyStoreResult& ice, const DirectlyStoreResult& result)
+ {
+ toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
+ }
+ void fromIce(const dto::DirectlyStoreResult& ice, DirectlyStoreResult& result)
+ {
+ fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
+ }
+
+ /* ===========================
+ * DirectlyStoreInput
+ * =========================== */
+ StartRecordInput StartRecordInput::fromIce(const dto::StartRecordInput& ice)
+ {
+ return armarx::fromIce<StartRecordInput>(ice);
+ }
+ dto::StartRecordInput StartRecordInput::toIce() const
+ {
+ return armarx::toIce<dto::StartRecordInput>(*this);
+ }
+ void toIce(dto::StartRecordInput& ice, const StartRecordInput& result)
+ {
+ toIce(ice.executionTime, result.executionTime);
+ ice.recordingID = result.recordingID;
+ ice.configuration.clear();
+ for (const auto& [k, v] : result.configuration)
+ {
+ armem::data::MemoryID id;
+ armem::toIce(id, k);
+
+ dto::RecordingModeConfiguration c;
+ c.mode = v.mode;
+ c.frequency = v.frequency;
+
+ ice.configuration[id] = c;
+ }
+ }
+ void fromIce(const dto::StartRecordInput& ice, StartRecordInput& result)
+ {
+ fromIce(ice.executionTime, result.executionTime);
+ result.recordingID = ice.recordingID;
+ result.configuration.clear();
+ for (const auto& [k, v] : ice.configuration)
+ {
+ armem::MemoryID id;
+ armem::fromIce(k, id);
+
+ StartRecordInput::RecordingModeConfiguration c;
+ c.mode = v.mode;
+ c.frequency = v.frequency;
+
+ result.configuration[id] = c;
+ }
+ }
+
+ /* ===========================
+ * StartRecordResult
+ * =========================== */
+ StartRecordResult StartRecordResult::fromIce(const dto::StartRecordResult& ice)
+ {
+ return armarx::fromIce<StartRecordResult>(ice);
+ }
+ dto::StartRecordResult StartRecordResult::toIce() const
+ {
+ return armarx::toIce<dto::StartRecordResult>(*this);
+ }
+ void toIce(dto::StartRecordResult& ice, const StartRecordResult& result)
+ {
+ toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
+ }
+ void fromIce(const dto::StartRecordResult& ice, StartRecordResult& result)
+ {
+ fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
+ }
+
+ /* ===========================
+ * StopRecordResult
+ * =========================== */
+ StopRecordResult StopRecordResult::fromIce(const dto::StopRecordResult& ice)
+ {
+ return armarx::fromIce<StopRecordResult>(ice);
+ }
+ dto::StopRecordResult StopRecordResult::toIce() const
+ {
+ return armarx::toIce<dto::StopRecordResult>(*this);
+ }
+ void toIce(dto::StopRecordResult& ice, const StopRecordResult& result)
+ {
+ toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
+ }
+ void fromIce(const dto::StopRecordResult& ice, StopRecordResult& result)
+ {
+ fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
+ }
+
+ /* ===========================
+ * RecordStatusResult
+ * =========================== */
+ RecordStatusResult RecordStatusResult::fromIce(const dto::RecordStatusResult& ice)
+ {
+ return armarx::fromIce<RecordStatusResult>(ice);
+ }
+ dto::RecordStatusResult RecordStatusResult::toIce() const
+ {
+ return armarx::toIce<dto::RecordStatusResult>(*this);
+ }
+ void toIce(dto::RecordStatusResult& ice, const RecordStatusResult& result)
+ {
+ toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
+ }
+ void fromIce(const dto::RecordStatusResult& ice, RecordStatusResult& result)
+ {
+ fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
+ }
+
+ /* ===========================
+ * GetServerStructureResult
+ * ===========================
+ GetServerStructureResult GetServerStructureResult::fromIce(const dto::GetServerStructureResult& ice)
+ {
+ return armarx::fromIce<GetServerStructureResult>(ice);
+ }
+ dto::GetServerStructureResult GetServerStructureResult::toIce() const
+ {
+ return armarx::toIce<dto::GetServerStructureResult>(*this);
+ }
+ void toIce(dto::GetServerStructureResult& ice, const GetServerStructureResult& result)
+ {
+ toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
+ toIce(ice.serverStructure, result.serverStructure);
+ }
+ void fromIce(const dto::GetServerStructureResult& ice, GetServerStructureResult& result)
+ {
+ fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
+ fromIce(ice.serverStructure, result.serverStructure);
+ }*/
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
new file mode 100644
index 0000000000000000000000000000000000000000..3d1def0b1c8803f772bf23a8863f62a4adc86704
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
@@ -0,0 +1,123 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/server/RecordingMemoryInterface.h>
+#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+
+namespace armarx::armem::server::ltm
+{
+
+ /* ===========================
+ * DirectlyStoreInput
+ * =========================== */
+ struct DirectlyStoreInput
+ {
+ armem::wm::Memory memory;
+
+ static DirectlyStoreInput fromIce(const dto::DirectlyStoreInput& ice);
+ dto::DirectlyStoreInput toIce() const;
+ };
+ void toIce(dto::DirectlyStoreInput& ice, const DirectlyStoreInput& input);
+ void fromIce(const dto::DirectlyStoreInput& ice, DirectlyStoreInput& input);
+
+
+
+ /* ===========================
+ * DirectlyStoreResult
+ * =========================== */
+ struct DirectlyStoreResult : public detail::SuccessHeader
+ {
+ // TODO: Move to armarx::core::time
+ long timeStartedMicroSeconds;
+ long timeFinishedMicroSeconds;
+
+ static DirectlyStoreResult fromIce(const dto::DirectlyStoreResult& ice);
+ dto::DirectlyStoreResult toIce() const;
+ };
+ void toIce(dto::DirectlyStoreResult& ice, const DirectlyStoreResult& input);
+ void fromIce(const dto::DirectlyStoreResult& ice, DirectlyStoreResult& input);
+
+
+
+ /* ===========================
+ * StartRecordInput
+ * =========================== */
+ struct StartRecordInput
+ {
+ struct RecordingModeConfiguration
+ {
+ dto::RecordingMode::RecordingModeEnum mode;
+ float frequency;
+ };
+
+ armarx::core::time::DateTime executionTime;
+ std::string recordingID;
+ std::map<armem::MemoryID, RecordingModeConfiguration> configuration;
+
+ static StartRecordInput fromIce(const dto::StartRecordInput& ice);
+ dto::StartRecordInput toIce() const;
+ };
+ void toIce(dto::StartRecordInput& ice, const StartRecordInput& input);
+ void fromIce(const dto::StartRecordInput& ice, StartRecordInput& input);
+
+
+
+ /* ===========================
+ * StartRecordResult
+ * =========================== */
+ struct StartRecordResult : public detail::SuccessHeader
+ {
+ static StartRecordResult fromIce(const dto::StartRecordResult& ice);
+ dto::StartRecordResult toIce() const;
+ };
+ void toIce(dto::StartRecordResult& ice, const StartRecordResult& input);
+ void fromIce(const dto::StartRecordResult& ice, StartRecordResult& input);
+
+
+
+ /* ===========================
+ * StopRecordResult
+ * =========================== */
+ struct StopRecordResult : public detail::SuccessHeader
+ {
+ static StopRecordResult fromIce(const dto::StopRecordResult& ice);
+ dto::StopRecordResult toIce() const;
+ };
+ void toIce(dto::StopRecordResult& ice, const StopRecordResult& input);
+ void fromIce(const dto::StopRecordResult& ice, StopRecordResult& input);
+
+
+
+ /* ===========================
+ * RecordStatusResult
+ * =========================== */
+ struct RecordStatusResult : public detail::SuccessHeader
+ {
+ struct RecordStatus
+ {
+ int totalSnapshots;
+ int savedSnapshots;
+ } status;
+
+ static RecordStatusResult fromIce(const dto::RecordStatusResult& ice);
+ dto::RecordStatusResult toIce() const;
+ };
+ void toIce(dto::RecordStatusResult& ice, const RecordStatusResult& input);
+ void fromIce(const dto::RecordStatusResult& ice, RecordStatusResult& input);
+
+
+
+ /* ===========================
+ * GetServerStructureResult
+ * ===========================
+ struct GetServerStructureResult : public detail::SuccessHeader
+ {
+ armem::wm::Memory serverStructure;
+
+ static GetServerStructureResult fromIce(const dto::GetServerStructureResult& ice);
+ dto::GetServerStructureResult toIce() const;
+ };
+ void toIce(dto::GetServerStructureResult& ice, const GetServerStructureResult& input);
+ void fromIce(const dto::GetServerStructureResult& ice, GetServerStructureResult& input);*/
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.cpp b/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d482757296d957023ac737b505ec6e396f59d5fc
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.cpp
@@ -0,0 +1 @@
+#include "Replaying.h"
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.h b/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f70f09beec2219624baeca92e2cd7deaa104fb4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Replaying.h
@@ -0,0 +1 @@
+#pragma once
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 40d22cead44dea33a993364415ea6cbe59d6413a..fbeff6c936cfadfc10107ea95dcf170004dd972a 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -26,17 +26,12 @@ namespace armarx::armem::server::plugins
void Plugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
const std::string prefix = "mem.";
- if (not workingMemory.name().empty()
- and not properties->hasDefinition(prefix + "MemoryName"))
+ if (not workingMemory.name().empty() and not properties->hasDefinition(prefix + "MemoryName"))
{
properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
}
// stuff for ltm
- if (not properties->hasDefinition(prefix + "ltm.enabled"))
- {
- properties->optional(longtermMemory.enabled, prefix + "ltm.enabled");
- }
longtermMemory.createPropertyDefinitions(properties, prefix + "ltm.");
}
@@ -45,6 +40,14 @@ namespace armarx::armem::server::plugins
{
memoryTopicName = client::util::MemoryListener::MakeMemoryTopicName(MemoryID(workingMemory.name()));
parent().offeringTopic(memoryTopicName);
+
+ longtermMemory.init(workingMemory.id());
+ }
+
+
+ void Plugin::postOnInitComponent()
+ {
+ initialized = true;
}
@@ -59,6 +62,8 @@ namespace armarx::armem::server::plugins
}
parent.getTopic(memoryTopic, memoryTopicName);
iceAdapter.setMemoryListener(memoryTopic);
+
+ connected = true;
}
@@ -73,8 +78,12 @@ namespace armarx::armem::server::plugins
void Plugin::setMemoryName(const std::string& memoryName)
{
+ if (initialized)
+ {
+ ARMARX_WARNING << "Please set the memory name before initializing the component. Otherwise the WM and LTM may have different names";
+ }
+
workingMemory.name() = memoryName;
- longtermMemory.setMemoryID(workingMemory.id());
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index dcbe7adc4c3b519a55da2b234f6f3b28338fd74f..02c89e5f323b4376ca4493f6b0f1e8efa22f3b60 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -34,6 +34,7 @@ namespace armarx::armem::server::plugins
virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
virtual void preOnInitComponent() override;
+ virtual void postOnInitComponent() override;
virtual void postOnConnectComponent() override;
virtual void preOnDisconnectComponent() override;
@@ -91,6 +92,9 @@ namespace armarx::armem::server::plugins
client::plugins::Plugin* clientPlugin = nullptr;
+ std::atomic_bool initialized = false;
+ std::atomic_bool connected = false;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
index b95b94afb85f31efd41384283409460b706a729e..e8805d52528f5352830bb537336abbb5be5de484 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
@@ -35,6 +35,12 @@ namespace armarx::armem::server::plugins
return iceAdapter().query(input);
}
+ structure::data::GetServerStructureResult ReadOnlyPluginUser::getServerStructure(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().getServerStructure();
+ }
+
Plugin& ReadOnlyPluginUser::memoryServerPlugin()
{
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
index f56d66b0f35e173d3076dedb729a7dc77ab9bb6b..d234819b931794bb0b562f4a33d462baf16a9cfe 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
@@ -39,6 +39,10 @@ namespace armarx::armem::server::plugins
const Ice::Current& = Ice::emptyCurrent) override;
+ virtual armem::structure::data::GetServerStructureResult
+ getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
+
+
public:
Plugin& memoryServerPlugin();
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 44454b87d83b905edff8b925b0aa5831ffd8715e..8d0b986443914d60c976da57ae6736c775bc1f54 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -60,12 +60,36 @@ namespace armarx::armem::server::plugins
return iceAdapter().query(input);
}
+ structure::data::GetServerStructureResult ReadWritePluginUser::getServerStructure(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().getServerStructure();
+ }
+
+
+ // LTM STORING AND RECORDING
+ dto::DirectlyStoreResult ReadWritePluginUser::directlyStore(const dto::DirectlyStoreInput& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().directlyStore(input);
+ }
+
+ dto::StartRecordResult ReadWritePluginUser::startRecord(const dto::StartRecordInput& startRecordInput, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().startRecord(startRecordInput);
+ }
+
+ dto::StopRecordResult ReadWritePluginUser::stopRecord(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().stopRecord();
+ }
- // LTM STORING
- data::StoreResult ReadWritePluginUser::store(const data::StoreInput& input, const Ice::Current&)
+ dto::RecordStatusResult ReadWritePluginUser::getRecordStatus(const Ice::Current&)
{
ARMARX_TRACE;
- return iceAdapter().store(input);
+ return iceAdapter().getRecordStatus();
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 8ddf174b172d4eb2fc4fba7f3e89d79553d72b42..3c29eb693b49df92b1fe82fcd84f416ed4152141 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -43,10 +43,14 @@ namespace armarx::armem::server::plugins
// ReadingInterface interface
virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual armem::structure::data::GetServerStructureResult getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
// StoringInterface interface
- virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual dto::DirectlyStoreResult directlyStore(const dto::DirectlyStoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual dto::StartRecordResult startRecord(const dto::StartRecordInput& startRecordInput, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual dto::StopRecordResult stopRecord(const Ice::Current& = Ice::emptyCurrent) override;
+ virtual dto::RecordStatusResult getRecordStatus(const Ice::Current& = Ice::emptyCurrent) override;
// ActionsInterface interface
virtual armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs);
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
index a3dfb4eb4102e21ee0cc97d7a9919b55c7c83f35..ae1dedc1427790bf40a0df8a661942dad9b79668 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
@@ -6,16 +6,4 @@
namespace armarx::armem::server::query_proc::base
{
- std::set<query::data::QueryTarget>
- detail::getTargets(const std::vector<query::data::QueryTarget>& _targets)
- {
- std::set<query::data::QueryTarget> targets(_targets.begin(), _targets.end());
- if (targets.empty())
- {
- ARMARX_DEBUG << "Query has no targets - using WM as default.";
- targets.insert(query::data::QueryTarget::WM);
- }
- return targets;
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index b4ad4300d01835654882b65be10271ecfe27a754..709457fb57b8d03b4c624c69199fae6812ee50d0 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -1,29 +1,23 @@
#pragma once
#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
#include <Ice/Handle.h>
#include <set>
#include <vector>
-
-namespace armarx::armem::server::query_proc::base::detail
-{
- // If empty, e.g. when receiving queries from python, we use WM as default.
- // We do it here as (Sl)ice does not support default values for vectors.
- std::set<query::data::QueryTarget> getTargets(const std::vector<query::data::QueryTarget>& _targets);
-}
namespace armarx::armem::server::query_proc::base
{
- using QueryTarget = query::data::QueryTarget;
+ using QueryTarget = armem::query::data::QueryTarget::QueryTargetEnum;
/**
* @brief Base class for memory query processors.
*/
- template <QueryTarget queryTarget, class DataT, class ResultT, class QueryT>
+ template <class DataT, class ResultT, class QueryT>
class BaseQueryProcessorBase
{
public:
@@ -39,10 +33,7 @@ namespace armarx::armem::server::query_proc::base
ResultT process(const QueryT& query, const DataT& data) const
{
ResultT result { data.id() };
- if (detail::getTargets(query.targets).count(queryTarget))
- {
- this->process(result, query, data);
- }
+ this->process(result, query, data);
return result;
}
@@ -67,10 +58,7 @@ namespace armarx::armem::server::query_proc::base
for (const auto& query : queries)
{
- if (detail::getTargets(query->targets).count(queryTarget))
- {
- this->process(result, *query, data);
- }
+ this->process(result, *query, data);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 76b9ad73575e49d9e0d9fb33531bfdfe24173010..70506550c02b9091a48186b04f772bb607ccf29f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -14,13 +14,13 @@ namespace armarx::armem::server::query_proc::base
/**
* @brief Handles memory queries.
*/
- template <QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>
+ public BaseQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>;
+ using Base = BaseQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 432453afbf5de7e1c4d1b0cdd21d18bef1b56787..e5578ace37104b5435bb0953c3f1912b79219b84 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -22,13 +22,13 @@ namespace armarx::armem::server::query_proc::base::detail
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>
+ public BaseQueryProcessorBase<_EntityT, _ResultEntityT, armem::query::data::EntityQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>;
+ using Base = BaseQueryProcessorBase<_EntityT, _ResultEntityT, armem::query::data::EntityQuery>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index 3fc3deecb6acbe1beb3a1817e67885a4919f4ff1..ae8e1ddb8a28c0b6f2785e8d365a2c844cd200fe 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -11,13 +11,13 @@
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
+ public BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
+ using Base = BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
public:
@@ -106,6 +106,12 @@ namespace armarx::armem::server::query_proc::base
protected:
+ virtual bool _processAllowed(const armem::query::data::MemoryQuery& query) const
+ {
+ // always execute query. Override if you want to execute the quey only if a special condition is fulfilled (e.g. querytargets)
+ return true;
+ }
+
void _processResult(ResultMemoryT& result,
const CoreSegmentT& coreSegment,
const armem::query::data::MemoryQuery& query) const
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
index 7b138e9ac624b13c4bb8bbf11dcfb29ce2992f59..240e38a375ef7c2a438d7169b72234e63a54e10f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -12,13 +12,13 @@
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>
+ public BaseQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
+ using Base = BaseQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
index 0f06af9dad98fb9e732710cd03bfe95661e286ed..f1c52ecc827d05aeef96d101cb2b8762ae12f5a4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
@@ -9,13 +9,13 @@ namespace armarx::armem::server::query_proc::ltm::detail
/**
* @brief Handles memory queries.
*/
- template <base::QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
+ public base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
+ using Base = base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index 71374c40f2792c7fd855acd39f581d2b18a750ec..d9f64fc7a42508ddf297490d4ce8481a054fdb9a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>
+ public base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>
{
protected:
- using Base = base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>;
+ using Base = base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>;
public:
using EntityT = typename Base::EntityT;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
index a077de9ca046fde8910d9f174d90dddfd510d00c..8ae444bc831046d435566987bfcb9664ee951f25 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>
+ public base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>
{
protected:
- using Base = base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>;
+ using Base = base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>;
public:
@@ -28,6 +28,14 @@ namespace armarx::armem::server::query_proc::ltm::detail
using Base::process;
+ protected:
+
+ bool _processAllowed(const armem::query::data::MemoryQuery& query) const final
+ {
+ // only execute if query target is correct
+ return query.target == armem::query::data::QueryTarget::WM_LTM;
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
index b3512921d7100819f751e18b793508bbebc85436..0559e2716d74e94fd5b070b8cc25229ab34924a4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
+ public base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
+ using Base = base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
index 80d83a15c4f537916c61049efc27016f48f7eb31..f569e986a57832def5e1343f20da9f0b007d664f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
@@ -10,15 +10,12 @@
namespace armarx::armem::server::query_proc::ltm_server::disk
{
- static const base::QueryTarget queryTarget = query::data::QueryTarget::LTM;
-
-
class EntityQueryProcessor :
- public ltm::detail::EntityQueryProcessorBase<queryTarget, armem::server::ltm::disk::Entity, armem::wm::Entity>
+ public ltm::detail::EntityQueryProcessorBase<armem::server::ltm::disk::Entity, armem::wm::Entity>
{
protected:
- using Base = ltm::detail::EntityQueryProcessorBase<queryTarget, armem::server::ltm::disk::Entity, armem::wm::Entity>;
+ using Base = ltm::detail::EntityQueryProcessorBase<armem::server::ltm::disk::Entity, armem::wm::Entity>;
public:
@@ -28,11 +25,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class ProviderSegmentQueryProcessor :
- public ltm::detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>
+ public ltm::detail::ProviderSegmentQueryProcessorBase<armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>
{
protected:
- using Base = ltm::detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = ltm::detail::ProviderSegmentQueryProcessorBase<armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
public:
@@ -40,11 +37,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class CoreSegmentQueryProcessor :
- public ltm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>
+ public ltm::detail::CoreSegmentQueryProcessorBase<armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>
{
protected:
- using Base = ltm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = ltm::detail::CoreSegmentQueryProcessorBase<armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
public:
@@ -52,11 +49,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class MemoryQueryProcessor :
- public ltm::detail::MemoryQueryProcessorBase<queryTarget, armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>
+ public ltm::detail::MemoryQueryProcessorBase<armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>
{
protected:
- using Base = ltm::detail::MemoryQueryProcessorBase<queryTarget, armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = ltm::detail::MemoryQueryProcessorBase<armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
public:
using Base::process;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
index c9a0ddb51227f9ac5ab98c695105bd82ba99652e..70a8f32e4554d2743346e2fae6f7dddc303c0c50 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
@@ -9,13 +9,13 @@ namespace armarx::armem::server::query_proc::wm::detail
/**
* @brief Handles memory queries.
*/
- template <base::QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
+ public base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
+ using Base = base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
index a107d615518d9fbaf700b15992aacda95f00c839..faa3fe544af4dedb4e4226123a1d422a2a1ed200 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>
+ public base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>
{
protected:
- using Base = base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>;
+ using Base = base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
index 38d7a9ec403df90590e6eea1c45db5c757097dce..b6ae970639732bd871402edbb8ee96cd0d68eb04 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>
+ public base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>
{
protected:
- using Base = base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>;
+ using Base = base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
index 759938b2b6fbf8c2d650d47f9820233f662a6070..75abb12eefab229f61a9ff5f8dd5c75aca218801 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
+ public base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
+ using Base = base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
index 0a50a1c4fb7baec68c752895eb966d9f689f5778..138ee95251fcac618829c38dd580ade96e9cc94e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- HasDataMode::HasDataMode(armem::DataMode dataMode) : dataMode(dataMode)
+ HasDataMode::HasDataMode(armem::query::DataMode dataMode) : dataMode(dataMode)
{
}
@@ -16,20 +16,20 @@ namespace armarx::armem::server::query_proc::wm::detail
namespace armarx::armem::server::query_proc::wm
{
- ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
- detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>(dataMode),
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(armem::query::DataMode dataMode) :
+ detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>(dataMode),
HasDataMode(dataMode)
{
}
- CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(armem::query::DataMode dataMode) :
CoreSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
- MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessor::MemoryQueryProcessor(armem::query::DataMode dataMode) :
MemoryQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
@@ -39,13 +39,13 @@ namespace armarx::armem::server::query_proc::wm
namespace armarx::armem::server::query_proc::wm_server
{
- ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(armem::query::DataMode dataMode) :
ProviderSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
- CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(armem::query::DataMode dataMode) :
CoreSegmentQueryProcessorBase(dataMode),
HasDataMode(dataMode)
{
@@ -64,7 +64,7 @@ namespace armarx::armem::server::query_proc::wm_server
}
- MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessor::MemoryQueryProcessor(armem::query::DataMode dataMode) :
MemoryQueryProcessorBase(dataMode),
HasDataMode(dataMode)
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 2d1ff3e351f019f0eb18eed7b143b15497b1f015..27e88e82881deb7ba6f47249d385867b134b9621 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
@@ -9,11 +9,6 @@
#include "detail/ProviderSegmentQueryProcessorBase.h"
#include "detail/EntityQueryProcessorBase.h"
-
-namespace armarx::armem::server::query_proc::wm
-{
- static const base::QueryTarget queryTarget = query::data::QueryTarget::WM;
-}
namespace armarx::armem::server::query_proc::wm::detail
{
@@ -21,12 +16,12 @@ namespace armarx::armem::server::query_proc::wm::detail
{
public:
- HasDataMode(armem::DataMode dataMode);
+ HasDataMode(armem::query::DataMode dataMode);
protected:
- armem::DataMode dataMode;
+ armem::query::DataMode dataMode;
};
@@ -34,18 +29,18 @@ namespace armarx::armem::server::query_proc::wm::detail
template <class SourceEntityT>
class EntityQueryProcessor :
- public EntityQueryProcessorBase<queryTarget, SourceEntityT, armem::wm::Entity>,
+ public EntityQueryProcessorBase<SourceEntityT, armem::wm::Entity>,
public HasDataMode
{
protected:
- using Base = EntityQueryProcessorBase<queryTarget, SourceEntityT, armem::wm::Entity>;
+ using Base = EntityQueryProcessorBase<SourceEntityT, armem::wm::Entity>;
using Entity = armem::wm::Entity;
public:
- EntityQueryProcessor(DataMode dataMode = DataMode::WithData) :
+ EntityQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData) :
HasDataMode(dataMode)
{}
@@ -55,7 +50,7 @@ namespace armarx::armem::server::query_proc::wm::detail
void addResultSnapshot(armem::wm::Entity& result, const typename SourceEntityT::EntitySnapshotT& snapshot) const
{
- bool withData = (dataMode == DataMode::WithData);
+ bool withData = (dataMode == armem::query::DataMode::WithData);
if (withData)
{
result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
@@ -82,38 +77,38 @@ namespace armarx::armem::server::query_proc::wm
using EntityQueryProcessor = detail::EntityQueryProcessor<armem::wm::Entity>;
class ProviderSegmentQueryProcessor :
- public detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
+ public detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
using ProviderSegment = armem::wm::ProviderSegment;
using Entity = armem::wm::Entity;
public:
- ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ ProviderSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
};
class CoreSegmentQueryProcessor :
- public detail::CoreSegmentQueryProcessorBase <queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
+ public detail::CoreSegmentQueryProcessorBase <armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = wm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = wm::detail::CoreSegmentQueryProcessorBase<armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
using CoreSegment = armem::wm::CoreSegment;
using ProviderSegment = armem::wm::ProviderSegment;
public:
- CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ CoreSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -121,19 +116,19 @@ namespace armarx::armem::server::query_proc::wm
class MemoryQueryProcessor :
- public detail::MemoryQueryProcessorBase<queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public detail::MemoryQueryProcessorBase<armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = detail::MemoryQueryProcessorBase<queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = detail::MemoryQueryProcessorBase<armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
using Memory = armem::wm::Memory;
using CoreSegment = armem::wm::CoreSegment;
public:
- MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+ MemoryQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -149,36 +144,36 @@ namespace armarx::armem::server::query_proc::wm_server
class ProviderSegmentQueryProcessor :
- public wm::detail::ProviderSegmentQueryProcessorBase<wm::queryTarget, server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
+ public wm::detail::ProviderSegmentQueryProcessorBase<server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::ProviderSegmentQueryProcessorBase<wm::queryTarget, server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = wm::detail::ProviderSegmentQueryProcessorBase<server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
using ProviderSegment = server::wm::ProviderSegment;
using Entity = server::wm::Entity;
public:
- ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ ProviderSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
};
class CoreSegmentQueryProcessor :
- public wm::detail::CoreSegmentQueryProcessorBase <wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
+ public wm::detail::CoreSegmentQueryProcessorBase <server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::CoreSegmentQueryProcessorBase<wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = wm::detail::CoreSegmentQueryProcessorBase <server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
using CoreSegment = server::wm::CoreSegment;
using ProviderSegment = server::wm::ProviderSegment;
public:
- CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ CoreSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -192,18 +187,18 @@ namespace armarx::armem::server::query_proc::wm_server
class MemoryQueryProcessor :
- public wm::detail::MemoryQueryProcessorBase<wm::queryTarget, server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public wm::detail::MemoryQueryProcessorBase<server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::MemoryQueryProcessorBase<wm::queryTarget, server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = wm::detail::MemoryQueryProcessorBase<server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
using Memory = server::wm::Memory;
using CoreSegment = server::wm::CoreSegment;
public:
- MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+ MemoryQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
index c778cbc4fb09e2a590f7a4aa20085f19998e78f4..583dbb5fd23bfd33f3a61b722a00862ea06172b3 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
@@ -148,7 +148,7 @@ d_usec(long usec)
BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3000)));
+ addResults(query::entity::Single(t_usec(3000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3500)));
+ addResults(query::entity::Single(t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -197,8 +197,7 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1500), t_usec(3500)));
+ addResults(query::entity::TimeRange(t_usec(1500), t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -219,8 +218,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2000), t_usec(4000)));
+ addResults(query::entity::TimeRange(t_usec(2000), t_usec(4000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -242,10 +240,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(0), t_usec(10000)));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), t_usec(-1)));
+ addResults(query::entity::TimeRange(t_usec(0), t_usec(10000)));
+ addResults(query::entity::TimeRange(t_usec(-1), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -262,10 +258,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2400), t_usec(2600)));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(6000), t_usec(1000)));
+ addResults(query::entity::TimeRange(t_usec(2400), t_usec(2600)));
+ addResults(query::entity::TimeRange(t_usec(6000), t_usec(1000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -279,8 +273,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), t_usec(2500)));
+ addResults(query::entity::TimeRange(t_usec(-1), t_usec(2500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -302,8 +295,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2500), t_usec(-1)));
+ addResults(query::entity::TimeRange(t_usec(2500), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -328,8 +320,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), 1));
+ addResults(query::entity::BeforeTime(t_usec(3500), 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -344,8 +335,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), 2));
+ addResults(query::entity::BeforeTime(t_usec(3500), 2));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -371,8 +361,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(3500)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -387,8 +376,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3000)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(3000)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -403,8 +391,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -424,8 +411,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -452,8 +438,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(600)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(600)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -480,8 +465,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(100)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(100)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -500,8 +484,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3700), d_usec(400)));
+ addResults(query::entity::TimeApprox(t_usec(3700), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -526,8 +509,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3300), d_usec(400)));
+ addResults(query::entity::TimeApprox(t_usec(3300), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -552,8 +534,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3000), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(3000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -578,8 +559,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1), d_usec(1)));
+ addResults(query::entity::TimeApprox(t_usec(1), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -597,8 +577,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(10'000), d_usec(1)));
+ addResults(query::entity::TimeApprox(t_usec(10'000), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -616,8 +595,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(10'000), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(10'000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -636,8 +614,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
{
- BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), d_usec(1))), ::armarx::LocalException);
+ BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox(t_usec(-1), d_usec(1))), ::armarx::LocalException);
}
@@ -677,7 +654,7 @@ BOOST_AUTO_TEST_CASE(test_negative_index_semantics)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
{
addResults(query::entity::IndexRange());
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, -1));
+ addResults(query::entity::IndexRange(0, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -697,10 +674,10 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 3)); // => [1, 2, 3]
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -2)); // 5 - 2 = 3
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, 3)); // 5 - 4 = 1
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, -2));
+ addResults(query::entity::IndexRange(1, 3)); // => [1, 2, 3]
+ addResults(query::entity::IndexRange(1, -2)); // 5 - 2 = 3
+ addResults(query::entity::IndexRange(-4, 3)); // 5 - 4 = 1
+ addResults(query::entity::IndexRange(-4, -2));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -724,12 +701,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_range)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 0));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 1));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 5, 3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 4, -3)); // 5-3 = 2
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -5));
+ addResults(query::entity::IndexRange(1, 0));
+ addResults(query::entity::IndexRange(2, 1));
+ addResults(query::entity::IndexRange(5, 3));
+ addResults(query::entity::IndexRange(4, -3)); // 5-3 = 2
+ addResults(query::entity::IndexRange(3, -3));
+ addResults(query::entity::IndexRange(1, -5));
BOOST_REQUIRE_GT(results.size(), 0);
@@ -746,12 +723,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_entity)
{
entity.clear();
BOOST_REQUIRE_EQUAL(entity.size(), 0);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 0));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -10, -1));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 5));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 10));
+ addResults(query::entity::IndexRange(0, 0));
+ addResults(query::entity::IndexRange(0, 10));
+ addResults(query::entity::IndexRange(-10, -1));
+ addResults(query::entity::IndexRange(2, 5));
+ addResults(query::entity::IndexRange(3, -3));
+ addResults(query::entity::IndexRange(-1, 10));
BOOST_REQUIRE_GT(results.size(), 0);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 1f92ff883c67fe070328bd51ff6a9baad7afa81b..ebf288ab7f2a9e4f831b1433b3573e94dee47fac 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -92,7 +92,7 @@ BOOST_AUTO_TEST_CASE(test_mixed)
std::vector<std::string> entityNames = {"one", "two"};
- armem::client::query::Builder qb(armem::DataMode::WithData);
+ armem::client::query::Builder qb(armem::query::DataMode::WithData);
qb
.coreSegments(withName("core"))
.providerSegments(withName("provider"))
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 7ffdfbfdc4f874ce264d9a61e2ffb030291827d9..2f45b843a0419a639e000cc2594b59783df06267 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -28,7 +28,7 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
namespace armarx::armem
@@ -44,8 +44,7 @@ namespace armarx::armem
template <typename AronClass>
std::optional<AronClass> tryCast(const wm::EntityInstance& item)
{
- static_assert(std::is_base_of<armarx::aron::codegenerator::cpp::AronGeneratedClass,
- AronClass>::value);
+ static_assert(std::is_base_of<armarx::aron::cpp::AronGeneratedClass, AronClass>::value);
if (!item.data())
@@ -55,7 +54,7 @@ namespace armarx::armem
#if 0
// item.data() is by definition a DictNavigator
- if (item.data()->getDescriptor() != aron::data::Descriptor::eDict)
+ if (item.data()->getDescriptor() != aron::data::Descriptor::DICT)
{
return std::nullopt;
}
@@ -82,8 +81,7 @@ namespace armarx::armem
std::vector<AronClass>
allOfType(const std::map<std::string, wm::Entity>& entities)
{
- static_assert(std::is_base_of<armarx::aron::codegenerator::cpp::AronGeneratedClass,
- AronClass>::value);
+ static_assert(std::is_base_of<armarx::aron::cpp::AronGeneratedClass, AronClass>::value);
std::vector<AronClass> outV;
@@ -129,8 +127,7 @@ namespace armarx::armem
auto transformAllOfType(const std::map<std::string, wm::Entity>& entities,
auto pred) -> std::vector<decltype(pred(AronClass()))>
{
- static_assert(std::is_base_of<armarx::aron::codegenerator::cpp::AronGeneratedClass,
- AronClass>::value);
+ static_assert(std::is_base_of<armarx::aron::cpp::AronGeneratedClass, AronClass>::value);
std::vector<decltype(pred(AronClass()))> outV;
diff --git a/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml b/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
index 17247c71fb680682a28cbc47e7c14387fc21861b..d2317b83f1eb16da71d6e60980d0636f10e5e1f0 100644
--- a/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
+++ b/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
@@ -1,8 +1,8 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" autoinclude="true" />
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
</AronIncludes>
<GenerateTypes>
<Object name='armarx::armem::grasping::arondto::KnownGrasp'>
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index bfe6a2b3ceb3bf52788cf009dd97ff40601d16a9..be54e55ab75d82171e7fb3c3913f7d6c9bd3a87a 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -71,9 +71,9 @@ namespace armarx::armem::gui
updateWidget = new armem::gui::PeriodicUpdateWidget(2.0, 60);
updateWidgetLayout->insertWidget(0, updateWidget);
- processQueryResultTimer = new QTimer(this);
- processQueryResultTimer->setInterval(1000 / 60); // Keep this stable.
- processQueryResultTimer->start();
+ periodicUpdateTimer = new QTimer(this);
+ periodicUpdateTimer->setInterval(1000 / 60); // Keep this stable.
+ periodicUpdateTimer->start();
// Memory View
auto retrieveEntityInfo = [this](const MemoryID& entityID) -> PredictionWidget::EntityInfo
@@ -93,7 +93,7 @@ namespace armarx::armem::gui
try
{
predictionEngines = reader.getAvailablePredictionEngines();
- queryResult = reader.queryMemoryIDs({entityID}, DataMode::NoData);
+ queryResult = reader.queryMemoryIDs({entityID}, armem::query::DataMode::NoData);
}
catch (const Ice::LocalException& e)
{
@@ -149,9 +149,14 @@ namespace armarx::armem::gui
connect(this, &This::connected, this, &This::startQueries);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::startQueries);
- connect(processQueryResultTimer, &QTimer::timeout, this, &This::processQueryResults);
- connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::storeInLTM);
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::updateAvailableMemories);
+ connect(periodicUpdateTimer, &QTimer::timeout, this, &This::processQueryResults);
+
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::queryAndStoreInLTM);
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::startRecording, this, &This::startLTMRecording);
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::stopRecording, this, &This::stopLTMRecording);
+
connect(memoryGroup->predictionWidget(),
&armem::gui::PredictionWidget::makePrediction,
this,
@@ -269,20 +274,75 @@ namespace armarx::armem::gui
void
- MemoryViewer::storeInLTM()
+ MemoryViewer::queryAndStoreInLTM()
{
TIMING_START(MemoryStore);
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (auto& [name, reader] : memoryReaders)
{
- data::StoreInput input;
- input.query = memoryGroup->queryInput().toIce();
- reader.readAndStore(input);
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
+
+ // Query memory
+ auto q_res = reader.query(memoryGroup->queryInput());
+ if (q_res.success)
+ {
+ server::dto::DirectlyStoreInput input;
+ input.memory = q_res.toIce().memory;
+ reader.directlyStore(input);
+ }
+ else
+ {
+ std::string s = "Query of memory " + name + " was unsuccessful.";
+ statusLabel->setText(QString::fromStdString(s));
+ }
}
TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
}
+ void
+ MemoryViewer::startLTMRecording()
+ {
+ TIMING_START(MemoryStartRecording);
+
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
+ for (auto& [name, reader] : memoryReaders)
+ {
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
+ reader.startRecording();
+ }
+
+ TIMING_END_STREAM(MemoryStartRecording, ARMARX_VERBOSE);
+ }
+
+ void
+ MemoryViewer::stopLTMRecording()
+ {
+ TIMING_START(MemoryStopRecording);
+
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
+ for (auto& [name, reader] : memoryReaders)
+ {
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), name) == enabledMemories.end())
+ {
+ continue;
+ }
+ reader.stopRecording();
+ }
+
+ TIMING_END_STREAM(MemoryStopRecording, ARMARX_VERBOSE);
+ }
+
void MemoryViewer::commit()
{
TIMING_START(Commit);
@@ -418,8 +478,15 @@ namespace armarx::armem::gui
// Can't use a structured binding here because you can't capture those in a lambda
// according to the C++ standard.
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (const auto& pair : readers)
{
+ // skip if memory should not be queried
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), pair.first) == enabledMemories.end())
+ {
+ continue;
+ }
+
const auto& name = pair.first;
const auto& reader = pair.second;
if (queries.count(name) == 0)
@@ -431,7 +498,7 @@ namespace armarx::armem::gui
[&reader, input, recursionDepth, this]()
{
// Can't resolve MemoryLinks without data
- return recursionDepth == 0 || input.dataMode == DataMode::NoData
+ return recursionDepth == 0 || input.dataMode == armem::query::DataMode::NoData
? reader.query(input.toIce())
: reader.query(input.toIce(), mns, recursionDepth);
});
@@ -515,18 +582,40 @@ namespace armarx::armem::gui
}
}
- // Drop all entries in memoryData which are not in memoryReaders anymore.
+ // Perhaps remove entries
+ auto enabledMemories = memoryGroup->queryWidget()->enabledMemories();
for (auto it = memoryData.begin(); it != memoryData.end();)
{
- auto name = it->second.name();
+ // Drop all entries in memoryData which are not in memoryReaders anymore.
if (memoryReaders.count(it->first) == 0)
{
- it = memoryData.erase(it);
+ if (memoryGroup->queryWidget()->dropRemovedMemories())
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ continue;
}
- else
+
+ // Drop all entries that are not enabled by user (which means that there is no query result)
+ if (std::find(enabledMemories.begin(), enabledMemories.end(), it->first) == enabledMemories.end())
{
- ++it;
+ if (memoryGroup->queryWidget()->dropDisabledMemories())
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ continue;
}
+
+ // Memory found
+ ++it;
}
TIMING_END_STREAM(tProcessQueryResults, ARMARX_VERBOSE)
@@ -665,6 +754,34 @@ namespace armarx::armem::gui
}
+ void
+ MemoryViewer::updateAvailableMemories()
+ {
+ if (mns) // mns must be initialized
+ {
+ try
+ {
+ std::vector<std::string> convVec;
+ memoryReaders = mns.getAllReaders(true); // we only need the readers
+ std::transform(memoryReaders.begin(), memoryReaders.end(), std::back_inserter(convVec), [](const auto& p){return p.first;});
+
+ TIMING_START(GuiUpdateAvailableMemories);
+ memoryGroup->queryWidget()->update(convVec);
+ TIMING_END_STREAM(GuiUpdateAvailableMemories, ARMARX_VERBOSE);
+ }
+ catch (const std::exception& e)
+ {
+ // MNS was killed/stopped
+ // ignore?!
+ }
+ }
+ else
+ {
+ ARMARX_VERBOSE << deactivateSpam() << "MNS not ready yet. Skip update of available memories in query widget.";
+ }
+ }
+
+
void
MemoryViewer::updateMemoryTree()
{
@@ -674,9 +791,9 @@ namespace armarx::armem::gui
convMap[name] = &data;
}
- TIMING_START(GuiUpdate)
+ TIMING_START(GuiUpdateMemoryTree)
memoryGroup->tree()->update(convMap);
- TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE)
+ TIMING_END_STREAM(GuiUpdateMemoryTree, ARMARX_VERBOSE)
if (debugObserver)
{
@@ -684,7 +801,7 @@ namespace armarx::armem::gui
{
debugObserver->setDebugDatafield(Logging::tag.tagName,
"GUI Update [ms]",
- new Variant(GuiUpdate.toMilliSecondsDouble()));
+ new Variant(GuiUpdateMemoryTree.toMilliSecondsDouble()));
}
catch (const Ice::Exception&)
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 34562204b070f763084b6d0d0a2946b99b2b8dc0..8cc41498c27cb0b88fd60f238a2202fc3cfc2d12 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -85,7 +85,10 @@ namespace armarx::armem::gui
void storeOnDisk(QString directory);
void loadFromDisk(QString directory);
- void storeInLTM();
+ void queryAndStoreInLTM();
+ void startLTMRecording();
+ void stopLTMRecording();
+
void commit();
@@ -106,6 +109,7 @@ namespace armarx::armem::gui
void processQueryResults();
void updateMemoryTree();
+ void updateAvailableMemories();
signals:
@@ -149,8 +153,9 @@ namespace armarx::armem::gui
std::map<std::string, armem::wm::Memory> memoryData;
std::map<std::string, std::future<armem::query::data::Result>> runningQueries;
- /// Periodically triggers query result collection.
- QTimer* processQueryResultTimer;
+
+ /// Periodically triggers query result collection and updates the available memories
+ QTimer* periodicUpdateTimer;
QLayout* updateWidgetLayout = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h b/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
index c82ba93f3dfe9426de67c2c85b9f92b7da872df8..1795d4877e990bfc30a11be5d978859e115d1aa7 100644
--- a/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <QWidget>
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index d8755bbfd2e640842b4342c55330a761ce8a362d..fe443952ce26bf9546c9238eaf1fa234f13368f6 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::gui::disk
_loadFromDiskButton = new QPushButton(" Load Query from Disk into WM", this);
_loadFromDiskButton->setIcon(QIcon(":/icons/document-open.svg"));
- _storeOnDiskButton = new QPushButton(" Store Query from WM on Disk", this);
+ _storeOnDiskButton = new QPushButton(" Store shown Data on Disk", this);
_storeOnDiskButton->setIcon(QIcon(":/icons/document-save.svg"));
// Allow horizontal shrinking of buttons
diff --git a/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp b/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
index 38033d8badc055615c131567ca9fdb8f9abe0741..f4d5f79cabb89ecbf0a0e5c50c8975af6e14010d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/DataView.cpp
@@ -364,7 +364,7 @@ namespace armarx::armem::gui::instance
item->data(int(Columns::TYPE), Qt::UserRole).toInt());
switch (type)
{
- case aron::type::Descriptor::eImage:
+ case aron::type::Descriptor::IMAGE:
{
if (const std::optional<aron::Path> path = getElementPath(item))
{
@@ -632,7 +632,7 @@ namespace armarx::armem::gui::instance
// pixelType = aron::type::Image::pixelTypeFromName(imageData->getType());
// For now we assume it comes from c++ where '5' means CV_32FC1 (=5)
- pixelType = (imageData->getType() == "5" ? PixelType::depth32 : PixelType::rgb24);
+ pixelType = (imageData->getType() == "5" ? PixelType::DEPTH32 : PixelType::RGB24);
}
catch (const aron::error::AronException&)
{
@@ -644,13 +644,13 @@ namespace armarx::armem::gui::instance
{
switch (pixelType.value())
{
- case PixelType::rgb24:
+ case PixelType::RGB24:
ARMARX_CHECK_EQUAL(shape.at(2), 3)
<< "Expected Rgb24 image to have 3 bytes per pixel.";
image = QImage(imageData->getData(), cols, rows, QImage::Format::Format_RGB888);
break;
- case PixelType::depth32:
+ case PixelType::DEPTH32:
image = imageView->convertDepth32ToRGB32(*imageData);
clearLimitsHistory = false;
break;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 8267e1fc5c754e9133b737c7848a83ccfbbef19f..e2d04e0449c190acacf502bb0b847d785e7f85cd 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -159,3 +159,4 @@ namespace armarx::armem::gui::instance
}
} // namespace armarx::armem::gui::instance
+
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index eed9bb9ef66902f3ed15a5ad238bdc24c01b2595..6b7e2a77a2a606cd111091a850157600d1efd892 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -84,12 +84,12 @@ namespace armarx::aron
value << DataDisplayVisitor::getValue(data);
}
- void TypedDataDisplayVisitor::visitTime(const data::VariantPtr& data, const type::VariantPtr& type)
+ /*void TypedDataDisplayVisitor::visitDateTime(const data::VariantPtr& data, const type::VariantPtr& type)
{
auto l = data::Long::DynamicCastAndCheck(data);
armem::Time time { armem::Duration::MicroSeconds(l->getValue()) };
value << armem::toDateTimeMilliSeconds(time);
- }
+ }*/
template <typename ScalarT>
@@ -99,6 +99,47 @@ namespace armarx::aron
value << m.format(eigenIof);
}
+ void TypedDataDisplayVisitor::processQuaternion(const data::NDArray& data)
+ {
+ const Eigen::Quaternionf quat = aron::converter::AronEigenConverter::ConvertToQuaternionf(data);
+ setStreamPrecision();
+ value << quat.w() << coeffSep << "|" << coeffSep << quat.x() << coeffSep << quat.y() << coeffSep << quat.z();
+ }
+
+ void TypedDataDisplayVisitor::processPose(const type::Matrix&, const data::NDArray& d)
+ {
+ const Eigen::IOFormat eigenIof(Eigen::StreamPrecision, 0, " ", "\n", "( ", " )", "", "");
+ const std::string cdot = "\u00B7"; // center dot: https://unicode-table.com/de/00B7/
+
+ auto getLines = [&](auto&& mat)
+ {
+ std::stringstream ss;
+ setStreamPrecision(ss);
+ ss << mat.format(eigenIof);
+ std::vector<std::string> lines = simox::alg::split(ss.str(), "\n");
+ ARMARX_CHECK_EQUAL(lines.size(), 3);
+ return lines;
+ };
+
+ const Eigen::Matrix4f pose = aron::converter::AronEigenConverter::ConvertToMatrix4f(d);
+ const std::vector<std::string> r = getLines(simox::math::orientation(pose));
+ const std::vector<std::string> t = getLines(simox::math::position(pose));
+
+ std::vector<std::string> lines;
+ lines.push_back(r.at(0) + " \t" + t.at(0));
+ lines.push_back(r.at(1) + " " + cdot + " x + \t" + t.at(1));
+ lines.push_back(r.at(2) + " \t" + t.at(2));
+
+ value << simox::alg::join(lines, "\n");
+ }
+
+ void TypedDataDisplayVisitor::processPosition(const type::Matrix&, const data::NDArray& d)
+ {
+ const Eigen::Vector3f pos = aron::converter::AronEigenConverter::ConvertToVector3f(d);
+ setStreamPrecision();
+ value << pos.format(eigenIof);
+ }
+
void TypedDataDisplayVisitor::visitMatrix(const data::VariantPtr& data, const type::VariantPtr& type)
{
auto t = *type::Matrix::DynamicCastAndCheck(type);
@@ -125,25 +166,12 @@ namespace armarx::aron
}
}
- void TypedDataDisplayVisitor::processQuaternion(const data::NDArray& data)
- {
- const Eigen::Quaternionf quat = aron::converter::AronEigenConverter::ConvertToQuaternionf(data);
- setStreamPrecision();
- value << quat.w() << coeffSep << "|" << coeffSep << quat.x() << coeffSep << quat.y() << coeffSep << quat.z();
- }
-
void TypedDataDisplayVisitor::visitQuaternion(const data::VariantPtr& data, const type::VariantPtr&)
{
auto d = *data::NDArray::DynamicCastAndCheck(data);
processQuaternion(d);
}
- void TypedDataDisplayVisitor::visitOrientation(const data::VariantPtr& data, const type::VariantPtr&)
- {
- auto d = *data::NDArray::DynamicCastAndCheck(data);
- processQuaternion(d);
- }
-
void TypedDataDisplayVisitor::visitImage(const data::VariantPtr& data, const type::VariantPtr& type)
{
// aron::typenavigator::ImagePixelType pixelType = ImageNavigator::pixelTypeFromName(data.getType());
@@ -156,45 +184,6 @@ namespace armarx::aron
value << DataDisplayVisitor::getValue(data);
}
- void TypedDataDisplayVisitor::visitPose(const data::VariantPtr& data, const type::VariantPtr& type)
- {
- auto d = data::NDArray::DynamicCastAndCheck(data);
-
- const Eigen::IOFormat eigenIof(Eigen::StreamPrecision, 0, " ", "\n", "( ", " )", "", "");
- const std::string cdot = "\u00B7"; // center dot: https://unicode-table.com/de/00B7/
-
- auto getLines = [&](auto&& mat)
- {
- std::stringstream ss;
- setStreamPrecision(ss);
- ss << mat.format(eigenIof);
- std::vector<std::string> lines = simox::alg::split(ss.str(), "\n");
- ARMARX_CHECK_EQUAL(lines.size(), 3);
- return lines;
- };
-
- const Eigen::Matrix4f pose = aron::converter::AronEigenConverter::ConvertToMatrix4f(d);
- const std::vector<std::string> r = getLines(simox::math::orientation(pose));
- const std::vector<std::string> t = getLines(simox::math::position(pose));
-
- std::vector<std::string> lines;
- lines.push_back(r.at(0) + " \t" + t.at(0));
- lines.push_back(r.at(1) + " " + cdot + " x + \t" + t.at(1));
- lines.push_back(r.at(2) + " \t" + t.at(2));
-
- value << simox::alg::join(lines, "\n");
- }
-
-
- void TypedDataDisplayVisitor::visitPosition(const data::VariantPtr& data, const type::VariantPtr& type)
- {
- auto d = data::NDArray::DynamicCastAndCheck(data);
-
- const Eigen::Vector3f pos = aron::converter::AronEigenConverter::ConvertToVector3f(d);
- setStreamPrecision();
- value << pos.format(eigenIof);
- }
-
void TypedDataDisplayVisitor::setStreamPrecision()
{
setStreamPrecision(value);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index fa42d27adc750a48cdd7bdadafa9bc41ee4e5945..9d0193e376c3ddf9d346d9f3d2114be547138fcb 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -39,16 +39,12 @@ namespace armarx::aron
void visitInt(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitLong(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitString(const data::VariantPtr& data, const type::VariantPtr& type) override;
- void visitTime(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitMatrix(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitQuaternion(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitImage(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitPointCloud(const data::VariantPtr& data, const type::VariantPtr& type) override;
- void visitPose(const data::VariantPtr& data, const type::VariantPtr& type) override;
- void visitPosition(const data::VariantPtr& data, const type::VariantPtr& type) override;
- void visitOrientation(const data::VariantPtr& data, const type::VariantPtr& type) override;
// What about NDArray? currently defaulted
@@ -64,6 +60,10 @@ namespace armarx::aron
void processMatrix(const type::Matrix&, const data::NDArray& data);
void processQuaternion(const data::NDArray& data);
+ void processPose(const type::Matrix&, const data::NDArray& data);
+ void processPosition(const type::Matrix&, const data::NDArray& data);
+ void processOrientation(const type::Quaternion&, const data::NDArray& data);
+
void setStreamPrecision();
void setStreamPrecision(std::ostream& os);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index 70edd5a5149617618e8ab023a8ccb48f4a629dee..baf2fc6b4d3b8a7f72b2f63a286b6db06d6fefea 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -185,7 +185,7 @@ namespace armarx::armem::gui::instance
std::string typeName = instance::sanitizeTypeName(type->getFullName());
switch (type->getMaybe())
{
- case aron::type::Maybe::eOptional:
+ case aron::type::Maybe::OPTIONAL:
typeName = "Optional[" + typeName + "]";
break;
default:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
index bc8c27104f78f11547ecc72c6dbc93cded31893b..c37bff2f8acdc57ff57b691344bd7f78f70435ed 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
@@ -14,22 +14,43 @@
namespace armarx::armem::gui::instance
{
- QTreeWidgetItem* TreeTypedDataVisitor::makeItem(const std::string& key, aron::data::NDArray& data, const aron::type::Pose& type) const
- {
- QTreeWidgetItem* item = makeItem<aron::data::NDArray, aron::type::Pose>(key, data, type);
- // ToDo: Do something special.
- return item;
- }
-
- void TreeTypedDataVisitor::streamValueText(const aron::data::Long& data, const aron::type::Time& type, std::stringstream& ss) const
+ /*void TreeTypedDataVisitor::streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const
{
(void) type;
armem::Time time { armem::Duration::MicroSeconds(data.getValue()) };
armem::toDateTimeMilliSeconds(time);
ss << armem::toDateTimeMilliSeconds(time);
+ }*/
+
+ void TreeTypedDataVisitor::streamValueText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const
+ {
+ auto shape = data.getShape();
+
+ // TODO: Remove hardcoded stuff
+ if (shape.size() == 3)
+ {
+ if (shape[0] == 3 && shape [1] == 1 && shape[2] == 4)
+ {
+ streamPositionText(data, type, ss);
+ return;
+ }
+
+ if (shape[0] == 4 && shape[1] == 4 && shape[2] == 4)
+ {
+ streamPoseText(data, type, ss);
+ return;
+ }
+
+ if (shape[0] == 4 && shape[1] == 1 && shape[2] == 4)
+ {
+ streamOrientationText(data, type, ss);
+ return;
+ }
+ }
+ TreeDataVisitorBase::streamValueText(data, ss); // fallback
}
- void TreeTypedDataVisitor::streamValueText(const aron::data::NDArray& data, const aron::type::Pose& type, std::stringstream& ss) const
+ void TreeTypedDataVisitor::streamPoseText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const
{
(void) type;
const Eigen::Matrix4f pose = aron::converter::AronEigenConverter::ConvertToMatrix4f(data);
@@ -37,7 +58,7 @@ namespace armarx::armem::gui::instance
ss << pose.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, coeffSep, "\n", "", "", "", ""));
}
- void TreeTypedDataVisitor::streamValueText(const aron::data::NDArray& data, const aron::type::Position& type, std::stringstream& ss) const
+ void TreeTypedDataVisitor::streamPositionText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const
{
(void) type;
const Eigen::Vector3f pos = aron::converter::AronEigenConverter::ConvertToVector3f(data);
@@ -45,7 +66,7 @@ namespace armarx::armem::gui::instance
ss << pos.format(Eigen::IOFormat(Eigen::StreamPrecision, 0, "", coeffSep, "", "", "", ""));
}
- void TreeTypedDataVisitor::streamValueText(const aron::data::NDArray& data, const aron::type::Orientation& type, std::stringstream& ss) const
+ void TreeTypedDataVisitor::streamOrientationText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const
{
(void) type;
const Eigen::Quaternionf quat = aron::converter::AronEigenConverter::ConvertToQuaternionf(data);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
index 848a6e4bace8159a559558a0e7c12b28a749f9ef..8ee94fd6c233047313161fb093ad7784ca7f603d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
@@ -139,16 +139,16 @@ namespace armarx::armem::gui::instance
auto t = *aron::type::String::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitTime(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ /*void visitDateTime(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
ARMARX_CHECK_NOT_NULL(data);
ARMARX_CHECK_NOT_NULL(type);
const std::string key = data->getPath().getLastElement();
auto d = *aron::data::Long::DynamicCastAndCheck(data);
- auto t = *aron::type::Time::DynamicCastAndCheck(type);
+ auto t = *aron::type::DateTime::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
- }
+ }*/
void visitMatrix(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
@@ -181,26 +181,6 @@ namespace armarx::armem::gui::instance
auto t = *aron::type::PointCloud::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitPose(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
- {
- ARMARX_CHECK_NOT_NULL(data);
- ARMARX_CHECK_NOT_NULL(type);
- const std::string key = data->getPath().getLastElement();
-
- auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
- auto t = *aron::type::Pose::DynamicCastAndCheck(type);
- this->addValueRow(key, d, t);
- }
- void visitPosition(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
- {
- ARMARX_CHECK_NOT_NULL(data);
- ARMARX_CHECK_NOT_NULL(type);
- const std::string key = data->getPath().getLastElement();
-
- auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
- auto t = *aron::type::Position::DynamicCastAndCheck(type);
- this->addValueRow(key, d, t);
- }
void visitImage(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
ARMARX_CHECK_NOT_NULL(data);
@@ -211,16 +191,6 @@ namespace armarx::armem::gui::instance
auto t = *aron::type::Image::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitOrientation(const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
- {
- ARMARX_CHECK_NOT_NULL(data);
- ARMARX_CHECK_NOT_NULL(type);
- const std::string key = data->getPath().getLastElement();
-
- auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
- auto t = *aron::type::Orientation::DynamicCastAndCheck(type);
- this->addValueRow(key, d, t);
- }
// What aboud NDArray
@@ -269,8 +239,6 @@ namespace armarx::armem::gui::instance
return new QTreeWidgetItem(this->makeValueRowStrings(key, ss.str(), sanitizeTypeName(type.getFullName())));
}
- QTreeWidgetItem* makeItem(const std::string& key, aron::data::NDArray& data, const aron::type::Pose& type) const;
-
template <class DataNavigatorT, class TypeNavigatorT>
void streamValueText(const DataNavigatorT& data, const TypeNavigatorT& type, std::stringstream& ss) const
@@ -281,10 +249,12 @@ namespace armarx::armem::gui::instance
}
using TreeDataVisitorBase::streamValueText;
- void streamValueText(const aron::data::Long& data, const aron::type::Time& type, std::stringstream& ss) const;
- void streamValueText(const aron::data::NDArray& data, const aron::type::Pose& type, std::stringstream& ss) const;
- void streamValueText(const aron::data::NDArray& data, const aron::type::Position& type, std::stringstream& ss) const;
- void streamValueText(const aron::data::NDArray& data, const aron::type::Orientation& type, std::stringstream& ss) const;
+ //void streamValueText(const aron::data::Long& data, const aron::type::DateTime& type, std::stringstream& ss) const;
+ void streamValueText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
+
+ void streamPoseText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
+ void streamPositionText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
+ void streamOrientationText(const aron::data::NDArray& data, const aron::type::Matrix& type, std::stringstream& ss) const;
std::string coeffSep = " ";
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
index 21e4c7bc930e43addd41553e5b8ae63d7761c264..d3f214b6f038581d93b55ce8e9d7e6145620c82e 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
@@ -169,32 +169,6 @@ namespace armarx::armem::gui::instance
insertIntoJSON(key, obj);
}
- void
- TreeTypedJSONConverter::visitOrientation(DataInput& elementData, TypeInput& elementType)
- {
- this->visitQuaternion(elementData, elementType);
- }
-
- void
- TreeTypedJSONConverter::visitPosition(DataInput& elementData, TypeInput& /*elementType*/)
- {
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- nlohmann::json obj;
- Eigen::to_json(obj, aron::converter::AronEigenConverter::ConvertToVector3f(nd));
- insertIntoJSON(key, obj);
- }
-
- void
- TreeTypedJSONConverter::visitPose(DataInput& elementData, TypeInput& /*elementType*/)
- {
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- nlohmann::json obj;
- Eigen::to_json(obj, aron::converter::AronEigenConverter::ConvertToMatrix4f(nd));
- insertIntoJSON(key, obj);
- }
-
void
TreeTypedJSONConverter::visitImage(DataInput& elementData, TypeInput& /*elementType*/)
{
@@ -265,9 +239,9 @@ namespace armarx::armem::gui::instance
insertIntoJSON(key, s);
}
- void
- TreeTypedJSONConverter::visitTime(DataInput& elementData, TypeInput& /*elementType*/)
- {
+ //void
+ //TreeTypedJSONConverter::visitDateTime(DataInput& elementData, TypeInput& /*elementType*/)
+ /*{
const std::string key = elementData->getPath().getLastElement();
int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
armem::Time time { armem::Duration::MicroSeconds(l) };
@@ -276,7 +250,7 @@ namespace armarx::armem::gui::instance
{
insertIntoJSON(key + "_hr", armem::toDateTimeMilliSeconds(time));
}
- }
+ }*/
template <typename ElementType>
void
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
index 901021de0b67a556cf5adcc62635ebee8704d9d9..e299f8f64974bc32a5af1883fc0a10e52ebdedec 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
@@ -33,9 +33,6 @@ namespace armarx::armem::gui::instance
void visitMatrix(DataInput& elementData, TypeInput& elementType) override;
void visitNDArray(DataInput& elementData, TypeInput& elementType) override;
void visitQuaternion(DataInput& elementData, TypeInput& elementType) override;
- void visitOrientation(DataInput& elementData, TypeInput& elementType) override;
- void visitPosition(DataInput& elementData, TypeInput& elementType) override;
- void visitPose(DataInput& elementData, TypeInput& elementType) override;
void visitImage(DataInput& elementData, TypeInput& elementType) override;
void visitPointCloud(DataInput& elementData, TypeInput& elementType) override;
void visitIntEnum(DataInput& elementData, TypeInput& elementType) override;
@@ -45,7 +42,6 @@ namespace armarx::armem::gui::instance
void visitDouble(DataInput& elementData, TypeInput& elementType) override;
void visitBool(DataInput& elementData, TypeInput& elementType) override;
void visitString(DataInput& elementData, TypeInput& elementType) override;
- void visitTime(DataInput& elementData, TypeInput& elementType) override;
private:
std::stack<std::pair<std::string, nlohmann::json>> jsonStack;
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
index 2c34cb5b3b5f303c3f3dc37af970221b8f8b79ba..8680fe165cb257b8384f7d32ac2f005007479fff 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
@@ -102,10 +102,10 @@ namespace armarx::armem::gui::memory
armem::client::QueryInput GroupBox::queryInput() const
{
armem::client::query::Builder queryBuilder(_queryWidget->dataMode());
- queryBuilder.queryTargets(_snapshotSelectorWidget->queryTargets())
- .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ queryBuilder
+ .coreSegments().all()
+ .providerSegments().all()
+ .entities().all()
.snapshots(_snapshotSelectorWidget->selector());
return queryBuilder.buildQueryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index ad07dc5b0de991b1e3296a94c66418caa20bf011..1719e6cac0cb3a815969f70e7a77394931576593 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,6 +1,7 @@
#include "QueryWidget.h"
#include <limits>
+#include <mutex>
#include <QCheckBox>
#include <QGroupBox>
@@ -11,6 +12,7 @@
#include <QTabWidget>
#include <QVBoxLayout>
#include <QWidget>
+#include <QScrollArea>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -21,44 +23,166 @@ namespace armarx::armem::gui
QueryWidget::QueryWidget()
{
auto* vlayout = new QVBoxLayout();
+ auto* hlayout = new QHBoxLayout();
- _dataCheckBox = new QCheckBox("Get Data");
- _dataCheckBox->setChecked(true);
- vlayout->addWidget(_dataCheckBox);
-
- auto* recDepthHLayout = new QHBoxLayout();
- vlayout->addLayout(recDepthHLayout);
-
- _recursionDepthSpinner = new QSpinBox(); // NOLINT
- _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
- _recursionDepthSpinner->setValue(0);
- _recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
- _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
- recDepthHLayout->addWidget(_recursionDepthSpinner);
+ {
+ _availableMemoriesGroupBox = new QGroupBox("Available memories");
+ auto vboxlayout = new QVBoxLayout();
+ vboxlayout->setMargin(1);
+ vboxlayout->setSizeConstraint(QLayout::SizeConstraint::SetMinAndMaxSize);
+ vboxlayout->setAlignment(Qt::AlignTop);
+ _availableMemoriesGroupBox->setLayout(vboxlayout);
+ hlayout->addWidget(_availableMemoriesGroupBox);
+ }
- _recursionDepthLabel = new QLabel("Link resolution depth");
- recDepthHLayout->addWidget(_recursionDepthLabel);
- recDepthHLayout->addStretch();
+ QFrame* vFrame = new QFrame;
+ vFrame->setFrameShape(QFrame::VLine);
+ hlayout->addWidget(vFrame);
- _storeInLTMButton = new QPushButton("Store query result in LTM");
- vlayout->addWidget(_storeInLTMButton);
+ {
+ _additionalSettingsGroupBox = new QGroupBox("Additional query settings");
+ auto vboxlayout = new QVBoxLayout();
+ vboxlayout->setMargin(1);
+ vboxlayout->setSizeConstraint(QLayout::SizeConstraint::SetMinAndMaxSize);
+ vboxlayout->setAlignment(Qt::AlignTop);
+ _additionalSettingsGroupBox->setLayout(vboxlayout);
+
+ _dataCheckBox = new QCheckBox("Get Data");
+ _dataCheckBox->setChecked(true);
+ vboxlayout->addWidget(_dataCheckBox);
+
+ _dropRemovedCheckBox = new QCheckBox("Drop disconnected memories");
+ _dropRemovedCheckBox->setChecked(true);
+ vboxlayout->addWidget(_dropRemovedCheckBox);
+
+ _dropDisabledCheckBox = new QCheckBox("Drop disabled memories");
+ _dropDisabledCheckBox->setChecked(false);
+ vboxlayout->addWidget(_dropDisabledCheckBox);
+
+ auto* recDepthHLayout = new QHBoxLayout();
+ _recursionDepthSpinner = new QSpinBox(); // NOLINT
+ _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
+ _recursionDepthSpinner->setValue(0);
+ _recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
+ _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
+ recDepthHLayout->addWidget(_recursionDepthSpinner);
+
+ _recursionDepthLabel = new QLabel("Link resolution depth");
+ recDepthHLayout->addWidget(_recursionDepthLabel);
+ recDepthHLayout->addStretch();
+ vboxlayout->addLayout(recDepthHLayout);
+
+ auto ltmButtonsLayout = new QVBoxLayout();
+ _storeInLTMButton = new QPushButton("Query and store in LTM");
+ ltmButtonsLayout->addWidget(_storeInLTMButton);
+
+ auto* ltmRecHLayout = new QHBoxLayout();
+ _startLTMRecordingButton = new QPushButton("Start LTM Recording");
+ _stopLTMRecordingButton = new QPushButton("Stop LTM Recording");
+
+ ltmRecHLayout->addWidget(_startLTMRecordingButton);
+ ltmRecHLayout->addWidget(_stopLTMRecordingButton);
+ ltmButtonsLayout->addLayout(ltmRecHLayout);
+
+ vboxlayout->addLayout(ltmButtonsLayout);
+
+ hlayout->addWidget(_additionalSettingsGroupBox);
+ }
+ vlayout->addLayout(hlayout);
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
+ connect(_startLTMRecordingButton, &QPushButton::pressed, this, &This::startRecording);
+ connect(_stopLTMRecordingButton, &QPushButton::pressed, this, &This::stopRecording);
// Private connections.
- connect(
- _dataCheckBox, &QCheckBox::stateChanged, this, &This::setRecursionDepthSpinnerEnabled);
+ connect(_dataCheckBox, &QCheckBox::stateChanged, this, &This::setRecursionDepthSpinnerEnabled);
setLayout(vlayout);
}
+ void QueryWidget::update(const std::vector<std::string>& activeMemoryNames)
+ {
+ // since this is the only method that adds or hides elements of the groupbox after initialization,
+ // we can use a static mutex, only available to this method
+ //static std::mutex m;
+
+ //std::scoped_lock l(m);
+ std::vector<std::string> alreadyPresentMemoryCheckboxes;
+
+ // get information about memories already present and activate inactive ones if necessary
+ int maxIndex = _availableMemoriesGroupBox->layout()->count();
+ for (int i = 0; i < maxIndex; ++i)
+ {
+ auto w = _availableMemoriesGroupBox->layout()->itemAt(i)->widget();
+ QCheckBox* box = static_cast<QCheckBox*>(w);
+ std::string memoryName = box->text().toStdString();
+ if (box->isEnabled() && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) == activeMemoryNames.end())
+ {
+ // checkbox is enabled but memory is not available anymore
+ box->setVisible(false);
+ box->setChecked(false);
+ box->setEnabled(false);
+ }
+ if (not(box->isEnabled()) && std::find(activeMemoryNames.begin(), activeMemoryNames.end(), memoryName) != activeMemoryNames.end())
+ {
+ // checkbox is disabled but memory is available again
+ box->setVisible(true);
+ box->setChecked(true);
+ box->setEnabled(true);
+ }
+ alreadyPresentMemoryCheckboxes.push_back(memoryName);
+ }
- armem::DataMode QueryWidget::dataMode() const
+ // Add checkboxes for new memories
+ for (const auto& memoryName : activeMemoryNames)
+ {
+ if (std::find(alreadyPresentMemoryCheckboxes.begin(), alreadyPresentMemoryCheckboxes.end(), memoryName) == alreadyPresentMemoryCheckboxes.end())
+ {
+ // new memory available
+ auto box = new QCheckBox(QString::fromStdString(memoryName));
+ box->setChecked(true);
+ box->setVisible(true);
+ box->setEnabled(true);
+ _availableMemoriesGroupBox->layout()->addWidget(box);
+ }
+ }
+ }
+
+ armem::query::DataMode QueryWidget::dataMode() const
{
return _dataCheckBox->isChecked()
- ? armem::DataMode::WithData
- : armem::DataMode::NoData;
+ ? armem::query::DataMode::WithData
+ : armem::query::DataMode::NoData;
+ }
+
+ bool QueryWidget::dropRemovedMemories() const
+ {
+ return _dropRemovedCheckBox->isChecked();
+ }
+
+ bool QueryWidget::dropDisabledMemories() const
+ {
+ return _dropDisabledCheckBox->isChecked();
+ }
+
+
+ std::vector<std::string> QueryWidget::enabledMemories() const
+ {
+ std::vector<std::string> enabledMemoryCheckboxes;
+ int maxIndex = _availableMemoriesGroupBox->layout()->count();
+ for (int i = 0; i < maxIndex; ++i)
+ {
+ auto w = _availableMemoriesGroupBox->layout()->itemAt(i)->widget();
+ QCheckBox* box = static_cast<QCheckBox*>(w);
+ std::string memoryName = box->text().toStdString();
+ if (box->isEnabled() && box->isChecked())
+ {
+ // Invisible ones are always unchecked if set to invisible from update method
+ enabledMemoryCheckboxes.push_back(memoryName);
+ }
+ }
+ return enabledMemoryCheckboxes;
}
int QueryWidget::queryLinkRecursionDepth() const
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index e7a98a8026786a7c8e0c2acbfd8dc834cb72f16a..bb285a9a48b206c862ae0be4fef0a57016bf967a 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include "SnapshotSelectorWidget.h"
@@ -8,6 +8,7 @@
class QWidget;
class QTabWidget;
class QPushButton;
+class QGroupBox;
namespace armarx::armem::gui
{
@@ -21,15 +22,24 @@ namespace armarx::armem::gui
QueryWidget();
- armem::DataMode dataMode() const;
+ armem::query::DataMode dataMode() const;
+
+ bool dropRemovedMemories() const;
+ bool dropDisabledMemories() const;
int queryLinkRecursionDepth() const;
+ std::vector<std::string> enabledMemories() const;
+
+ void update(const std::vector<std::string>& memoryNames);
+
public slots:
signals:
void storeInLTM();
+ void startRecording();
+ void stopRecording();
// ToDo:
// void queryChanged(armem::query::data::Input query);
@@ -45,10 +55,19 @@ namespace armarx::armem::gui
private:
QCheckBox* _dataCheckBox;
+
+ QCheckBox* _dropRemovedCheckBox;
+ QCheckBox* _dropDisabledCheckBox;
+
QLabel* _recursionDepthLabel;
QSpinBox* _recursionDepthSpinner;
+
QPushButton* _storeInLTMButton;
+ QPushButton* _startLTMRecordingButton;
+ QPushButton* _stopLTMRecordingButton;
+ QGroupBox* _additionalSettingsGroupBox;
+ QGroupBox* _availableMemoriesGroupBox;
};
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index 8a9ff01c6b00a1863305e893bab631288d047b0f..c6977d062d062d441d62337848634a903ead43d7 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -21,9 +21,9 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector SnapshotForm::makeEntitySelector(const armem::query::data::QueryTargets& targets)
+ client::query::SnapshotSelector SnapshotForm::makeEntitySelector()
{
- client::query::SnapshotSelector s(targets);
+ client::query::SnapshotSelector s;
fillEntitySelector(s);
return s;
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
index f2f9ba1940d268d06f3383374d01893ea2d3dea4..1e673a73ebc9dc1a0ad7189f4484fee8820a3b12 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
@@ -19,7 +19,7 @@ namespace armarx::armem::gui
Q_OBJECT
public:
- virtual client::query::SnapshotSelector makeEntitySelector(const armem::query::data::QueryTargets& targets);
+ virtual client::query::SnapshotSelector makeEntitySelector();
signals:
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 6b38efdddb30e67d1abfb3190d88508dff72258a..f38c186b630e3d07fc867f1036159476b17bf767 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -4,6 +4,7 @@
#include <QComboBox>
#include <QHBoxLayout>
#include <QVBoxLayout>
+#include <QPushButton>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -12,29 +13,7 @@ namespace armarx::armem::gui
{
client::query::SnapshotSelector SnapshotSelectorWidget::selector()
{
- return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector(queryTargets());
- }
-
- query::data::QueryTargets SnapshotSelectorWidget::queryTargets() const
- {
- query::data::QueryTargets targets;
- if (_WMQueryTargetCheckBox->isChecked())
- {
- targets.push_back(query::data::QueryTarget::WM);
- }
- if (_LTMQueryTargetCheckBox->isChecked())
- {
- targets.push_back(query::data::QueryTarget::LTM);
- }
- return targets;
- }
-
- void SnapshotSelectorWidget::queryTargetStateChanged()
- {
- if (!_WMQueryTargetCheckBox->isChecked() && !_LTMQueryTargetCheckBox->isChecked())
- {
- _WMQueryTargetCheckBox->setChecked(true);
- }
+ return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector();
}
SnapshotSelectorWidget::SnapshotSelectorWidget()
@@ -57,19 +36,8 @@ namespace armarx::armem::gui
// query type select box
auto queryTargetLayout = new QHBoxLayout();
- _WMQueryTargetCheckBox = new QCheckBox("WM");
- _LTMQueryTargetCheckBox = new QCheckBox("LTM");
-
- connect(_WMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
- connect(_LTMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
-
- queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
- queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
-
- _WMQueryTargetCheckBox->setChecked(true);
typeLayout->addLayout(queryTargetLayout);
-
_pageLayout->addLayout(typeLayout);
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index e7ec233c896133beb1b675baf37e2d0e2f53489c..23833f71ea0f297379385abee48f4a01698670aa 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -4,7 +4,7 @@
#include <QWidget>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include "SnapshotForm.h"
@@ -13,6 +13,7 @@
class QCheckBox;
class QComboBox;
class QVBoxLayout;
+class QPushButton;
namespace armarx::armem::gui
@@ -34,9 +35,8 @@ namespace armarx::armem::gui
SnapshotSelectorWidget();
- armem::DataMode dataMode() const;
+ armem::query::DataMode dataMode() const;
client::query::SnapshotSelector selector();
- query::data::QueryTargets queryTargets() const;
public slots:
@@ -50,7 +50,6 @@ namespace armarx::armem::gui
void hideAllForms();
void showSelectedFormForQuery(QString selected);
- void queryTargetStateChanged();
signals:
void queryOutdated();
@@ -64,8 +63,6 @@ namespace armarx::armem::gui
public:
QVBoxLayout* _pageLayout;
QComboBox* _queryComboBox;
- QCheckBox* _WMQueryTargetCheckBox;
- QCheckBox* _LTMQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
diff --git a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
index af5f9149695359e859856e86fd733f4a2e169959..627d1a2ea804d2aa38135d5fc670dcee44145b73 100644
--- a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
+++ b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
@@ -110,7 +110,7 @@ BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_ndarry)
{
tn::NDArray type;
type.setNumberDimensions(3); //old: { 3, 2, 1});
- type.setElementType(armarx::aron::type::ndarray::float32);
+ type.setElementType(armarx::aron::type::ndarray::FLOAT32);
test_sanitize(type.getFullName(), "NDArray");
}
{
diff --git a/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml b/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
index dc4428a4d31b76035bbd40304dae9f6eb3f5253a..a03dc5b5d0ce7cb25e1b7a94feb41a3f04bff6d3 100644
--- a/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
+++ b/source/RobotAPI/libraries/armem_motions/aron/MDBReference.xml
@@ -3,11 +3,11 @@
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
+ <SystemInclude include="Eigen/Core" />
</CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml"/>
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 195cc6ebcecdc851b3c259d02172cfd43d6f7d7c..8e9621c5a711816c2e84762d9a9d59f10f333f03 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -73,10 +73,10 @@ namespace armarx::armem::server::motions::mdb::segment
}
ARMARX_INFO << ss.str(); // ToDo @Fabian PK: Remove
auto& entity = this->segmentPtr->addEntity(std::to_string(op->id));
- auto& snapshot = entity.addSnapshot(aron::fromAron<armem::Time>(op->createdDate));
+ auto& snapshot = entity.addSnapshot(op->createdDate);
armem::wm::EntityInstance& instance = snapshot.addInstance();
- instance.metadata().timeCreated = aron::fromAron<armem::Time>(op->createdDate);
+ instance.metadata().timeCreated = op->createdDate;
instance.metadata().timeSent = Time::Now();
instance.metadata().timeArrived = Time::Now();
instance.metadata().confidence = 1.0;
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
index 76cb21c07a16e8f37c0fa00f6a4ab2b90cfd2983..928df4b4e0215ad4a5c6dfc5365fe6cc89088288 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
@@ -1,11 +1,8 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index cb3c418e68b53cb24b781b22ff057386f995d2dc..a90821817037a2deb733474743f33221048ab24b 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -3,21 +3,13 @@ Core segment type of Object/Class.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/AxisAlignedBoundingBox.xml" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectNames.xml" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
index 774c6e0d5d32734a16d7fdc918f491d19cfbfa39..03c63a12f9fb091bc266133fecf4fd2b87edbf67 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml
@@ -3,14 +3,11 @@ Core segment type of Object/Instance.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectPose.xml" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::ObjectInstance">
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index d72adb6fd350f5ca40c432b519c2509255879f16..4839bbf09dfe2829ad8f0eaccffcdb88a238353b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -28,7 +28,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/predictions.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include "ArmarXCore/core/time/Clock.h"
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
index a3f481c630d573970ace675032a13becc9ca57fe..ababa79c7176bb2b8fed68c00d34a59d2b353d36 100644
--- a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
+++ b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
@@ -1,11 +1,8 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
index 2e4d7c8bbd2206ed184cfe7e01c2898d81523b04..5f06a01cd612e50843d3937cb1baa34e7f7dcba8 100644
--- a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
@@ -23,7 +23,6 @@
#pragma once
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
-#include <RobotAPI/libraries/armem_reasoning/aron/Anticipation.aron.generated.h>
namespace armarx::armem::server::reasoning
{
diff --git a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
index 63e87ab3c4ba7193a8b7800ed4c24881c09e1b45..7303d707d40e0f742a7faa2c9d1b8e4a9b561714 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/Robot.xml
@@ -1,16 +1,12 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotState.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <!-- <Include include="<RobotAPI/libraries/armem_objects/aron/RobotDescription.xml>" /> -->
- <Include include="<RobotAPI/libraries/armem_robot/aron/RobotState.xml>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ <AronIncludes>
+ <PackagePath package="RobotAPI" path="libraries/armem_robot/aron/RobotDescription.xml" />
+ <PackagePath package="RobotAPI" path="libraries/armem_robot/aron/RobotState.xml" />
+ <PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::Robot">
diff --git a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
index edce8c802a4e77cb571492700422b7c04eb7e1a1..f3326b90e514c9a802a79d19851d158d93e2b845 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml
@@ -1,12 +1,10 @@
<!--This class cotains information on how to create a VirtualRobot::Robot -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
- </CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name='armarx::armem::arondto::RobotDescription'>
diff --git a/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml b/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
index eaf9b41a75f58cfe9b5a9cedbbdfcb5bd6774499..d5db402107325d0bdf788006bc1846a45d369b86 100644
--- a/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
+++ b/source/RobotAPI/libraries/armem_robot/aron/RobotState.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
+ <SystemInclude include="<Eigen/Core>" />
</CodeIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 5db2b55603580aa42450938630483d2e8c4270f5..3bd7b2dfb5f03716174c6a3367fe9257f68d2526 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -6,21 +6,10 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
-
namespace armarx::armem::robot
{
- /* to be moved */
- void toAron(long& dto, const IceUtil::Time& time)
- {
- dto = time.toMicroSeconds();
- }
-
-
/* Robot */
void fromAron(const arondto::Robot& dto, Robot& bo)
@@ -53,16 +42,18 @@ namespace armarx::armem::robot
void fromAron(const arondto::RobotState& dto, RobotState& bo)
{
- fromAron(dto.timestamp, bo.timestamp);
- bo.globalPose.matrix() = dto.globalPose;
- bo.jointMap = dto.jointMap;
+ aron::fromAron(dto.timestamp, bo.timestamp);
+ aron::fromAron(dto.globalPose, bo.globalPose.matrix());
+ aron::fromAron(dto.jointMap, bo.jointMap);
+
}
void toAron(arondto::RobotState& dto, const RobotState& bo)
{
- toAron(dto.timestamp, bo.timestamp);
- dto.globalPose = bo.globalPose.matrix();
- dto.jointMap = bo.jointMap;
+ aron::toAron(dto.timestamp, bo.timestamp);
+ aron::toAron(dto.globalPose, bo.globalPose.matrix());
+ aron::toAron(dto.jointMap, bo.jointMap);
+
}
} // namespace armarx::armem::robot
@@ -97,16 +88,18 @@ namespace armarx::armem
void robot::fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo)
{
- fromAron(dto.timestamp, bo.timestamp);
- bo.globalPose = dto.objectPoseGlobal;
- bo.jointMap = dto.objectJointValues;
+ aron::fromAron(dto.timestamp, bo.timestamp);
+ aron::fromAron(dto.objectPoseGlobal, bo.globalPose);
+ aron::fromAron(dto.objectJointValues, bo.jointMap);
+
}
void robot::toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo)
{
- toAron(dto.timestamp, bo.timestamp);
- dto.objectPoseGlobal = bo.globalPose.matrix();
- dto.objectJointValues = bo.jointMap;
+ aron::toAron(dto.timestamp, bo.timestamp);
+ aron::toAron(dto.objectPoseGlobal, bo.globalPose.matrix());
+ aron::toAron(dto.objectJointValues, bo.jointMap);
+
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
index da176a1f9224e986b510abd5f73286f84d3e3802..c7ac7670d399329bb6674dad3243a048153534f8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -4,8 +4,8 @@
-->
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<Eigen/Geometry>" />
+ <SystemInclude include="Eigen/Core" />
+ <SystemInclude include="Eigen/Geometry" />
</CodeIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
index 02ebe91b35094809953de6cfd0252c8a2048cf98..2fdbe01dd297a7f450c669f843be982b67761d0b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Transform.xml
@@ -2,12 +2,12 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<RobotAPI/libraries/armem_robot_state/aron/TransformHeader.aron.generated.h>" />
+ <SystemInclude include="Eigen/Core" />
</CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml>" />
+ <PackagePath package="RobotAPI" path="libraries/armem_robot_state/aron/TransformHeader.xml" />
</AronIncludes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::Transform">
<ObjectChild key='header'>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml b/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
index c6bd5b94f93fa10e0638c75d17e8dbed0ad5bc60..f56e52c915284cd7c0a2a8deaa0c0cf179e3a154 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/TransformHeader.xml
@@ -1,9 +1,10 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
+ <Includes>
+ <SystemInclude include="Eigen/Core" />
+ </Includes>
+
<GenerateTypes>
<Object name="armarx::armem::arondto::TransformHeader">
<ObjectChild key='parentFrame'>
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
index 30f3a489cc9b7b2e8bc8f6e80c76d7bbccf15142..1c18fe5b78799b1b2f9555a33a8997e7edb60d28 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem
aron::toAron(dto.parentFrame, bo.parentFrame);
aron::toAron(dto.frame, bo.frame);
aron::toAron(dto.agent, bo.agent);
- toAron(dto.timestamp, bo.timestamp);
+ aron::toAron(dto.timestamp, bo.timestamp);
}
void
@@ -47,7 +47,7 @@ namespace armarx::armem
aron::fromAron(dto.parentFrame, bo.parentFrame);
aron::fromAron(dto.frame, bo.frame);
aron::fromAron(dto.agent, bo.agent);
- fromAron(dto.timestamp, bo.timestamp);
+ aron::fromAron(dto.timestamp, bo.timestamp);
}
/* JointState */
@@ -86,15 +86,15 @@ namespace armarx::armem
void
fromAron(const armarx::armem::prop::arondto::ForceTorque& dto, robot::ForceTorque& bo)
{
- bo.force = dto.force;
- bo.torque = dto.torque;
+ aron::fromAron(dto.force, bo.force);
+ aron::fromAron(dto.torque, bo.torque);
}
void
toAron(armarx::armem::prop::arondto::ForceTorque& dto, const robot::ForceTorque& bo)
{
- dto.force = bo.force;
- dto.torque = bo.torque;
+ aron::toAron(dto.force, bo.force);
+ aron::toAron(dto.torque, bo.torque);
}
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.h b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.h
index 17fe89152ef063ab932ace41a9ade84eb2f2f556..75c339c7fc4aad7f24b5b52befdf2e7f1451b345 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.h
@@ -22,7 +22,6 @@
#pragma once
#include <RobotAPI/libraries/armem_robot/types.h>
-#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
namespace armarx::armem
{
@@ -35,6 +34,12 @@ namespace armarx::armem
} // namespace robot_state
+ namespace prop::arondto
+ {
+ struct Platform;
+ struct ForceTorque;
+ }
+
namespace arondto
{
struct Transform;
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index b546afb89779ada2764d83faeb23684cd189ef50..b84f79b64e878a53828d95ff70ec6c586da0113b 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -16,7 +16,7 @@ The memory should look like the following:
<String />
</ObjectChild>
- <ObjectChild key='targets'>
+ <ObjectChild key='robots'>
<List>
<String />
</List>
@@ -35,7 +35,7 @@ The memory should look like the following:
</ObjectChild>
<ObjectChild key='acceptedType'>
- <string />
+ <string /> <!-- TODO REPLACE! -->
</ObjectChild>
</Object>
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index 745968174eff5fbd83b4d2147fa24a7931515797..ec84a4f91658a5b5ed7c8a50416a1b634142a491 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -37,7 +37,7 @@ namespace armarx::skills::segment
skillDescription.skillName = desc.skillName;
skillDescription.description = desc.description;
skillDescription.iceInfo = info.provider->ice_toString();
- skillDescription.targets = desc.targets;
+ skillDescription.robots = desc.robots;
skillDescription.timeoutMs = desc.timeoutMs;
if (desc.acceptedType)
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index af8af24c230d36a91a52e9b15528a6fa9eff7f3a..0181e2729c0ac1ff1f70ac433d73c298da5272c8 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -39,10 +39,10 @@ namespace armarx::skills::segment
// create commit about new update
armarx::skills::arondto::SkillExecutionEvent event;
- event.providerName = update.providerName;
- event.skillName = update.skillName;
- event.status = ExecutionStatus2String.at(update.status);
- event.params = aron::data::Dict::FromAronDictDTO(update.usedParams);
+ event.providerName = update.header.providerName;
+ event.skillName = update.header.skillName;
+ event.status = ExecutionStatus2String.at(update.header.status);
+ event.params = aron::data::Dict::FromAronDictDTO(update.header.usedParams);
event.data = aron::data::Dict::FromAronDictDTO(update.data);
armem::MemoryID commitId = id();
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 9c43b717aca7503962c1eb096202eee2e767bd00..8a60cb6689e79231e2b0ceb046bc2832899f29a6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -27,7 +27,7 @@ namespace armarx::skills::segment
}
- skills::manager::dto::SkillExecutionInfo SkillExecutionRequestCoreSegment::convertCommit(const aron::data::dto::DictPtr& commitData)
+ skills::manager::dto::SkillExecutionRequest SkillExecutionRequestCoreSegment::convertCommit(const aron::data::dto::DictPtr& commitData)
{
// convert ice commitData to aron
auto commitDataAron = std::make_shared<aron::data::Dict>(commitData);
@@ -36,7 +36,7 @@ namespace armarx::skills::segment
skills::arondto::SkillExecutionRequest request;
request.fromAron(commitDataAron);
- skills::manager::dto::SkillExecutionInfo info;
+ skills::manager::dto::SkillExecutionRequest info;
info.providerName = request.providerName;
info.skillName = request.skillName;
info.params = request.params->toAronDictDTO();
@@ -44,7 +44,7 @@ namespace armarx::skills::segment
}
- void SkillExecutionRequestCoreSegment::addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info)
+ void SkillExecutionRequestCoreSegment::addSkillExecutionRequest(const skills::manager::dto::SkillExecutionRequest& info)
{
// override directly execution to add a request to the memory
armem::Commit comm;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
index 08b6f6b56b913491f29746e60481079562764afb..262bc829b6906061e92e725f88a00b6bec6ed0c6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
@@ -26,8 +26,8 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
- skills::manager::dto::SkillExecutionInfo convertCommit(const aron::data::dto::DictPtr& commitData);
+ skills::manager::dto::SkillExecutionRequest convertCommit(const aron::data::dto::DictPtr& commitData);
- void addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info);
+ void addSkillExecutionRequest(const skills::manager::dto::SkillExecutionRequest& info);
};
}
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
index cadb4fdcda9f18695833a462e0bef2acfe91451d..6b0ea82d8ab18f6aa885d075949caa75b288d279 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
@@ -68,9 +68,9 @@ namespace armarx::armem::vision
{
arondto::SensorHeader aronSensorHeader;
- aronSensorHeader.agent = sensorHeader.agent;
- aronSensorHeader.frame = sensorHeader.frame;
- toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
+ aron::toAron(aronSensorHeader.agent, sensorHeader.agent);
+ aron::toAron(aronSensorHeader.frame, sensorHeader.frame);
+ aron::toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
return aronSensorHeader;
}
diff --git a/source/RobotAPI/libraries/aron/CMakeLists.txt b/source/RobotAPI/libraries/aron/CMakeLists.txt
index c45ff0856ef2185644f899a23be41b9943eb9dfa..ce4f7bc99cb8d923decfdd7fdb79390837e79150 100644
--- a/source/RobotAPI/libraries/aron/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/CMakeLists.txt
@@ -1,4 +1,4 @@
add_subdirectory(core)
add_subdirectory(converter)
-add_subdirectory(codegenerationhelper)
+add_subdirectory(codegeneration)
add_subdirectory(common)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3a800811daceb9e10dbad233aec1b071e72d83b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
@@ -0,0 +1,123 @@
+set(LIB_NAME aroncodegenerator)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+
+set(LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ RobotAPIInterfaces
+ cppgen
+ aron
+ SimoxUtility
+)
+
+set(LIB_FILES
+ typereader/xml/Data.cpp
+ typereader/xml/Factory.cpp
+ typereader/xml/Reader.cpp
+
+ codegenerator/codewriter/cpp/Writer.cpp
+ codegenerator/codewriter/cpp/generator/Generator.cpp
+ codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
+ codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
+ codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+ codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+ codegenerator/codewriter/cpp/generator/container/Dict.cpp
+ codegenerator/codewriter/cpp/generator/container/List.cpp
+ codegenerator/codewriter/cpp/generator/container/Object.cpp
+ codegenerator/codewriter/cpp/generator/container/Tuple.cpp
+ codegenerator/codewriter/cpp/generator/container/Pair.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
+ codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+ codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Int.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Long.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Float.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Double.cpp
+ codegenerator/codewriter/cpp/generator/primitive/String.cpp
+ codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
+ codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
+ codegenerator/codewriter/cpp/generator/Factory.cpp
+)
+
+set(LIB_HEADERS
+ typereader/helper/GenerateInfo.h
+ typereader/helper/GenerateTypeInfo.h
+ typereader/helper/GenerateIntEnumInfo.h
+
+ typereader/Reader.h
+ typereader/xml/Data.h
+ typereader/xml/Factory.h
+ typereader/xml/Reader.h
+
+ codegenerator/helper/WriterInfo.h
+ codegenerator/helper/ReaderInfo.h
+
+ codegenerator/codewriter/CodeWriter.h
+ codegenerator/codewriter/Factory.h
+
+ codegenerator/codewriter/cpp/Writer.h
+ codegenerator/codewriter/cpp/generator/Generator.h
+ codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
+ codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
+ codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
+ codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+ codegenerator/codewriter/cpp/generator/toplevel/All.h
+ codegenerator/codewriter/cpp/generator/container/Dict.h
+ codegenerator/codewriter/cpp/generator/container/List.h
+ codegenerator/codewriter/cpp/generator/container/Object.h
+ codegenerator/codewriter/cpp/generator/container/Tuple.h
+ codegenerator/codewriter/cpp/generator/container/Pair.h
+ codegenerator/codewriter/cpp/generator/container/All.h
+ codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
+ codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+ codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
+ codegenerator/codewriter/cpp/generator/ndarray/Image.h
+ codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
+ codegenerator/codewriter/cpp/generator/ndarray/All.h
+ codegenerator/codewriter/cpp/generator/enum/IntEnum.h
+ codegenerator/codewriter/cpp/generator/enum/All.h
+ codegenerator/codewriter/cpp/generator/primitive/Int.h
+ codegenerator/codewriter/cpp/generator/primitive/Long.h
+ codegenerator/codewriter/cpp/generator/primitive/Float.h
+ codegenerator/codewriter/cpp/generator/primitive/Double.h
+ codegenerator/codewriter/cpp/generator/primitive/String.h
+ codegenerator/codewriter/cpp/generator/primitive/Bool.h
+ codegenerator/codewriter/cpp/generator/primitive/All.h
+ codegenerator/codewriter/cpp/generator/any/AnyObject.h
+ codegenerator/codewriter/cpp/generator/any/All.h
+ codegenerator/codewriter/cpp/generator/All.h
+ codegenerator/codewriter/cpp/generator/Factory.h
+)
+
+
+armarx_add_library(
+ LIB_NAME
+ "${LIB_NAME}"
+ SOURCES
+ "${LIB_FILES}"
+ HEADERS
+ "${LIB_HEADERS}"
+ LIBS
+ "${LIBS}"
+)
+
+add_library(AronCodegenerator ALIAS "${LIB_NAME}")
+add_library(RobotAPI::AronCodegenerator ALIAS "${LIB_NAME}")
+add_library(RobotAPI::aroncodegenerator ALIAS "${LIB_NAME}")
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
index 0bbf6ca52012f1183d157d92b090a3fbd7b9a38e..942d036f3e6ed88f012ccd2577c703bd85ac2c26 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
@@ -35,10 +35,10 @@
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
namespace armarx::aron::codegenerator
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/Factory.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/Factory.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
similarity index 83%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index 117a6cbf164c65a0e141ff7fd49bf5a3a11a0c96..72a657218790d389d14283f7c22fb02ce183c357 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -85,18 +85,6 @@ namespace armarx::aron::codegenerator::cpp
ToAronTypeDTO.enforceMemberAccess = "->toAronObjectDTO()";
initialTypeWriters.push_back(ToAronTypeDTO);
}
-
- // toJSON Method
- /*
- {
- codegenerator::WriterInfo toJSON;
- toJSON.methodName = "toJSON";
- toJSON.returnType = "nlohmann::json";
- toJSON.writerClassType = "armarx::aron::data::writer::NlohmannJSONWriter";
- toJSON.include = "<RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>";
- dataWriters.push_back(toJSON);
- }
- */
}
void Writer::addSpecificReaderMethods()
@@ -138,18 +126,6 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
dataReaders.push_back(fromAronDTO);
}
-
- // fromJSON Method
- /*
- {
- codegenerator::ReaderInfo fromJSON;
- fromJSON.methodName = "fromJSON";
- fromJSON.argumentType = "nlohmann::json";
- fromJSON.readerClassType = "armarx::aron::data::reader::NlohmannJSONReader";
- fromJSON.include = "<RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>";
- dataReaders.push_back(fromJSON);
- }
- */
}
@@ -162,30 +138,28 @@ namespace armarx::aron::codegenerator::cpp
//std::cout << "Generating: " << nav->getName() << std::endl;
// Convert to Object type and create class object
- if (type == nullptr)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "An received public type is null. Abort due to error!");
- }
+ ARMARX_CHECK_NOT_NULL(type);
generator::ObjectClass generator(*type);
-
CppClassPtr c = setupBasicCppClass(publicGenerateObjectType, generator);
+ setupMemberFields(c, publicGenerateObjectType.doc_members, generator);
+ // check for templates
if (!type->getTemplates().empty())
{
std::vector<std::string> tmpl;
std::vector<std::string> tmpl_requires;
for (auto& t : type->getTemplates())
{
- tmpl_requires.push_back("armarx::aron::codegenerator::cpp::isAronGeneratedClass<" + t + ">");
+ tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedClass<" + t + ">");
tmpl.push_back("class " + t);
}
std::string templateDef = "template <" + simox::alg::join(tmpl, ", ") + ">";
std::string requiresDef = "requires " + simox::alg::join(tmpl_requires, " && ");
c->setTemplates(templateDef + "\n" + requiresDef);
}
- setupMemberFields(c, publicGenerateObjectType.doc_members, generator);
+ // check for inheritance
if (type->getExtends() != nullptr)
{
generator::ObjectClass extendsSerializer(*type->getExtends());
@@ -193,21 +167,17 @@ namespace armarx::aron::codegenerator::cpp
}
else
{
- c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
}
- for (const std::string& s : additionalIncludes)
+ // Writermethods
+ for (codegenerator::WriterInfo info : dataWriters)
{
- if (!s.empty())
+ if (info.returnType == OWN_TYPE_NAME)
{
- c->addInclude(s);
+ info.returnType = generator.getFullClassCppTypename();
}
- }
- // Writermethods
- for (const codegenerator::WriterInfo& info : dataWriters)
- {
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -217,15 +187,30 @@ namespace armarx::aron::codegenerator::cpp
}
// Add methods to set the member variables
- for (const codegenerator::StaticReaderInfo& info : staticDataReaders)
+ // also resolve the original class name if the return type is set to special
+ for (codegenerator::StaticReaderInfo info : staticDataReaders)
{
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
c->addMethod(convert);
}
// Add methods to set the member variables
- for (const codegenerator::ReaderInfo& info : dataReaders)
+ for (codegenerator::ReaderInfo info : dataReaders)
{
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -235,8 +220,13 @@ namespace armarx::aron::codegenerator::cpp
}
// Typewritermethods
- for (const codegenerator::WriterInfo& info : initialTypeWriters)
+ for (codegenerator::WriterInfo info : initialTypeWriters)
{
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+
if (!info.include.empty())
{
c->addInclude(info.include);
@@ -254,18 +244,13 @@ namespace armarx::aron::codegenerator::cpp
for (const auto& publicGenerateIntEnumType : generateIntEnums)
{
const auto& nav = publicGenerateIntEnumType.correspondingType;
- if (nav == nullptr)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "An received public type is null. Abort due to error!");
- }
+ ARMARX_CHECK_NOT_NULL(nav);
generator::IntEnumClass generator(*nav);
-
CppClassPtr c = setupBasicCppClass(publicGenerateIntEnumType, generator);
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
- c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
// ctor
c->addCtor(generator.toCopyCtor(c->getName()));
@@ -300,7 +285,7 @@ namespace armarx::aron::codegenerator::cpp
CppClassPtr Writer::setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const
{
const auto& type = gen.getType();
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
// Should not happen since we check the maybe flag on creation of the generator. However, better to double check
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
@@ -322,16 +307,32 @@ namespace armarx::aron::codegenerator::cpp
classDoc += (info.doc_brief.empty() ? "" : " * @brief " + info.doc_brief + "\n");
classDoc += (info.doc_author.empty() ? "" : " * @author " + info.doc_author + "\n");
}
+
c->addClassDoc(classDoc);
c->setPragmaOnceIncludeGuard(true);
- c->addInclude("<memory>");
- c->addInclude("<string>");
- c->addInclude("<vector>");
- c->addInclude("<map>");
- c->addInclude("<RobotAPI/interface/aron.h>");
- c->addInclude("<RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>");
-
- c->addPublicField(std::string("using ") + OWN_TYPE_NAME + " = " + classCppTypename + ";");
+
+ // add generator includes (e.g. coming from dto types)
+ for (const auto& s : gen.getRequiredIncludes())
+ {
+ if (!s.empty())
+ {
+ c->addInclude(s);
+ }
+ }
+
+ // add predefined includes from generator app (e.g. coming from aron includes)
+ for (const std::string& s : additionalIncludes)
+ {
+ if (!s.empty())
+ {
+ c->addInclude(simox::alg::replace_last(s, ".aron.generated.codesuffix", ".aron.generated.h"));
+ }
+ }
+
+ // add aron includes
+ 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>");
// ctor
c->addCtor(gen.toCtor(c->getName()));
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
index 2e6cc994cb6e70042918567f40a38d5293bf94e6..9405f63952de447de96a97e68fb3614bfec47807 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
@@ -30,15 +30,15 @@
#include <vector>
// Parent class
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/CodeWriter.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h>
// ArmarX
#include <ArmarXCore/libraries/cppgen/CppMethod.h>
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h>
namespace armarx::aron::codegenerator::cpp
{
@@ -63,7 +63,7 @@ namespace armarx::aron::codegenerator::cpp
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass&) const;
private:
- static const constexpr char* OWN_TYPE_NAME = "This";
+ static const constexpr char* OWN_TYPE_NAME = "OWN_TYPE_NAME";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c83144cb7090da617e3abcd1c04f81a302eebfae
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.cpp
@@ -0,0 +1,64 @@
+/*
+ * 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
+ */
+
+// STD/STL
+
+// Header
+#include "Factory.h"
+
+// ArmarX
+#include "All.h"
+#include "enum/All.h"
+
+namespace armarx::aron::codegenerator::cpp
+{
+ // Access method
+ std::unique_ptr<Generator> GeneratorFactory::create(const type::Variant& n, const Path& path) const
+ {
+ auto desc = n.getDescriptor();
+ switch(desc)
+ {
+ case type::Descriptor::LIST: return std::make_unique<generator::List>(dynamic_cast<const type::List&>(n));
+ case type::Descriptor::DICT: return std::make_unique<generator::Dict>(dynamic_cast<const type::Dict&>(n));
+ case type::Descriptor::OBJECT: return std::make_unique<generator::Object>(dynamic_cast<const type::Object&>(n));
+ case type::Descriptor::TUPLE: return std::make_unique<generator::Tuple>(dynamic_cast<const type::Tuple&>(n));
+ case type::Descriptor::PAIR: return std::make_unique<generator::Pair>(dynamic_cast<const type::Pair&>(n));
+ case type::Descriptor::NDARRAY: return std::make_unique<generator::NDArray>(dynamic_cast<const type::NDArray&>(n));
+ case type::Descriptor::MATRIX: return std::make_unique<generator::Matrix>(dynamic_cast<const type::Matrix&>(n));
+ case type::Descriptor::QUATERNION: return std::make_unique<generator::Quaternion>(dynamic_cast<const type::Quaternion&>(n));
+ case type::Descriptor::IMAGE: return std::make_unique<generator::Image>(dynamic_cast<const type::Image&>(n));
+ case type::Descriptor::POINTCLOUD: return std::make_unique<generator::PointCloud>(dynamic_cast<const type::PointCloud&>(n));
+ case type::Descriptor::INT_ENUM: return std::make_unique<generator::IntEnum>(dynamic_cast<const type::IntEnum&>(n));
+ case type::Descriptor::INT: return std::make_unique<generator::Int>(dynamic_cast<const type::Int&>(n));
+ case type::Descriptor::LONG: return std::make_unique<generator::Long>(dynamic_cast<const type::Long&>(n));
+ case type::Descriptor::FLOAT: return std::make_unique<generator::Float>(dynamic_cast<const type::Float&>(n));
+ case type::Descriptor::DOUBLE: return std::make_unique<generator::Double>(dynamic_cast<const type::Double&>(n));
+ case type::Descriptor::STRING: return std::make_unique<generator::String>(dynamic_cast<const type::String&>(n));
+ case type::Descriptor::BOOL: return std::make_unique<generator::Bool>(dynamic_cast<const type::Bool&>(n));
+ case type::Descriptor::ANY_OBJECT: return std::make_unique<generator::AnyObject>(dynamic_cast<const type::AnyObject&>(n));
+ case type::Descriptor::UNKNOWN: break;
+ }
+ throw error::AronEOFException(__PRETTY_FUNCTION__);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
similarity index 93%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
index 6f30af2290817eba9bb510047c216fa4d0265746..cc75cbe6b6d754bf36cbbe72bd3f1342a7c840a6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Factory.h
@@ -29,7 +29,7 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/All.h>
#include <RobotAPI/libraries/aron/core/Descriptor.h>
namespace armarx::aron::codegenerator::cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
similarity index 86%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index 4c0969f0de800c66a6a766fa4a4a80ebf21f6c64..8cdd98da4fd8d151225f671bc0ed4c5e3c2ef0cf 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -108,15 +108,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getInstantiatedCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::optional<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getInstantiatedCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::shared_ptr<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::unique_ptr<" + getInstantiatedCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -127,15 +127,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getInstantiatedCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::make_optional<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getInstantiatedCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::make_shared<" + getInstantiatedCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::make_unique<" + getInstantiatedCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -151,15 +151,15 @@ namespace armarx::aron::codegenerator::cpp
{
switch (getType().getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return getClassCppTypename();
- case type::Maybe::eOptional:
+ case type::Maybe::OPTIONAL:
return "std::optional<" + getClassCppTypename() + ">";
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return getClassCppTypename() + "*";
- case type::Maybe::eSharedPointer:
+ case type::Maybe::SHARED_PTR:
return "std::shared_ptr<" + getClassCppTypename() + ">";
- case type::Maybe::eUniquePointer:
+ case type::Maybe::UNIQUE_PTR:
return "std::unique_ptr<" + getClassCppTypename() + ">";
default:
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
@@ -209,7 +209,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::eNone, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::NONE, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
@@ -287,7 +287,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@return - nothing";
CppMethodPtr m = CppMethodPtr(new CppMethod("static " + info.returnType + " " + info.methodName + "(const " + info.argumentType + "& input)", doc.str()));
- m->addLine("This t;");
+ m->addLine(info.returnType + " t;");
m->addLine("t.fromAron(input);");
m->addLine("return t;");
return m;
@@ -320,6 +320,10 @@ namespace armarx::aron::codegenerator::cpp
}
// defaulted implementations of the blocks
+ std::vector<std::string> Generator::getRequiredIncludes() const
+ {
+ return {};
+ }
std::vector<CppFieldPtr> Generator::getPublicVariableDeclarations(const std::string& name) const
{
auto field = std::make_shared<CppField>(this->getFullInstantiatedCppTypename(), name);
@@ -366,11 +370,11 @@ namespace armarx::aron::codegenerator::cpp
std::string Generator::resolveMaybeAccessor(const std::string& s) const
{
const auto& t = getType();
- if (t.getMaybe() == type::Maybe::eOptional)
+ if (t.getMaybe() == type::Maybe::OPTIONAL)
{
return s + ".value()";
}
- if (t.getMaybe() == type::Maybe::eRawPointer || t.getMaybe() == type::Maybe::eSharedPointer || t.getMaybe() == type::Maybe::eUniquePointer)
+ if (t.getMaybe() == type::Maybe::RAW_PTR || t.getMaybe() == type::Maybe::SHARED_PTR || t.getMaybe() == type::Maybe::UNIQUE_PTR)
{
return "*" + s;
}
@@ -380,19 +384,19 @@ namespace armarx::aron::codegenerator::cpp
std::string Generator::resolveMaybeGenerator(const std::string& s) const
{
const auto& t = getType();
- if (t.getMaybe() == type::Maybe::eOptional)
+ if (t.getMaybe() == type::Maybe::OPTIONAL)
{
return s + " = std::make_optional<" + getInstantiatedCppTypename() + ">();";
}
- if (t.getMaybe() == type::Maybe::eRawPointer)
+ if (t.getMaybe() == type::Maybe::RAW_PTR)
{
return s + " = new " + getInstantiatedCppTypename() + "();";
}
- if (t.getMaybe() == type::Maybe::eSharedPointer)
+ if (t.getMaybe() == type::Maybe::SHARED_PTR)
{
return s + " = std::make_shared<" + getInstantiatedCppTypename() + ">();";
}
- if (t.getMaybe() == type::Maybe::eUniquePointer)
+ if (t.getMaybe() == type::Maybe::UNIQUE_PTR)
{
return s + " = std::make_unique<" + getInstantiatedCppTypename() + ">();";
}
@@ -404,16 +408,15 @@ namespace armarx::aron::codegenerator::cpp
const auto& type = getType();
switch (type.getMaybe())
{
- case type::Maybe::eNone:
+ case type::Maybe::NONE:
return ".";
- case type::Maybe::eOptional: //[[fallthrough]];
- case type::Maybe::eRawPointer: //[[fallthrough]];
- case type::Maybe::eSharedPointer: //[[fallthrough]];
- case type::Maybe::eUniquePointer:
+ case type::Maybe::OPTIONAL: //[[fallthrough]];
+ case type::Maybe::RAW_PTR: //[[fallthrough]];
+ case type::Maybe::SHARED_PTR: //[[fallthrough]];
+ case type::Maybe::UNIQUE_PTR:
return "->";
- default:
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) type.getMaybe()), type.getPath());
}
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) type.getMaybe()), type.getPath());
}
std::string Generator::toPointerAccessor(const std::string& cppAccessor) const
@@ -421,26 +424,28 @@ namespace armarx::aron::codegenerator::cpp
const auto& type = getType();
switch (type.getMaybe())
{
- case type::Maybe::eRawPointer:
+ case type::Maybe::RAW_PTR:
return cppAccessor;
- case type::Maybe::eSharedPointer: //[[fallthrough]];
- case type::Maybe::eUniquePointer:
+ case type::Maybe::SHARED_PTR: //[[fallthrough]];
+ case type::Maybe::UNIQUE_PTR:
return cppAccessor + ".get()";
- default:
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received invalid maybe enum (not a pointer?)", std::to_string((int) type.getMaybe()), type.getPath());
+
+ case type::Maybe::NONE: //[[fallthrough]];
+ case type::Maybe::OPTIONAL: break;
}
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received invalid maybe enum (not a pointer?)", std::to_string((int) type.getMaybe()), type.getPath());
}
CppBlockPtr Generator::resolveMaybeResetHardBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional)
+ if (type.getMaybe() == type::Maybe::OPTIONAL)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine(cppAccessor + " = std::nullopt;");
return b;
}
- else if (type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ else if (type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine(cppAccessor + " = nullptr;");
@@ -452,7 +457,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeResetSoftBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (" + cppAccessor + ") // if " + cppAccessor + " contains data");
@@ -465,7 +470,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeWriteBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (" + cppAccessor + ") // if " + cppAccessor + " contains data");
@@ -478,7 +483,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeReadBlock(const CppBlockPtr& block_if_data, const std::string& cppAccessor, const std::string& variantAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (not (" + ARON_READER_ACCESSOR + ".readNull(" + variantAccessor + "))) // if aron contains data");
@@ -496,7 +501,7 @@ namespace armarx::aron::codegenerator::cpp
CppBlockPtr Generator::resolveMaybeEqualsBlock(const CppBlockPtr& block_if_data, const std::string& accessor, const std::string& otherInstanceAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::eOptional || type.getMaybe() == type::Maybe::eRawPointer || type.getMaybe() == type::Maybe::eSharedPointer || type.getMaybe() == type::Maybe::eUniquePointer)
+ if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
{
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("if (not ((bool) " + accessor + " == (bool) " + otherInstanceAccessor + ")) // check if both contain data");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
similarity index 67%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
index 998c5c2e1e8b85b1e293a17ff1b16429e649cf74..7b9c15a7d4c6f1409db4999b906933bff64f3370 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h
@@ -26,8 +26,8 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
#include <ArmarXCore/libraries/cppgen/CppBlock.h>
#include <ArmarXCore/libraries/cppgen/CppField.h>
@@ -48,43 +48,11 @@ namespace armarx::aron::codegenerator::cpp
{
const std::map<type::Maybe, std::string> Maybe2CppString =
{
- {type::Maybe::eNone, "armarx::aron::type::Maybe::eNone"},
- {type::Maybe::eOptional, "armarx::aron::type::Maybe::eOptional"},
- {type::Maybe::eRawPointer, "armarx::aron::type::Maybe::eRawPointer"},
- {type::Maybe::eSharedPointer, "armarx::aron::type::Maybe::eSharedPointer"},
- {type::Maybe::eUniquePointer, "armarx::aron::type::Maybe::eUniquePointer"}
- };
-
- const std::map<type::matrix::ElementType, std::string> MatrixElementType2CppString =
- {
- {type::matrix::int16, "::armarx::aron::type::matrix::int16"},
- {type::matrix::int32, "::armarx::aron::type::matrix::int32"},
- {type::matrix::int64, "::armarx::aron::type::matrix::int64"},
- {type::matrix::float32, "::armarx::aron::type::matrix::float32"},
- {type::matrix::float64, "::armarx::aron::type::matrix::float64"}
- };
-
- const std::map<type::pointcloud::VoxelType, std::string> VoxelType2CppString =
- {
- {type::pointcloud::VoxelType::PointXYZ, "::armarx::aron::type::pointcloud::VoxelType::PointXYZ"},
- {type::pointcloud::VoxelType::PointXYZI, "::armarx::aron::type::pointcloud::VoxelType::PointXYZI"},
- {type::pointcloud::VoxelType::PointXYZL, "::armarx::aron::type::pointcloud::VoxelType::PointXYZL"},
- {type::pointcloud::VoxelType::PointXYZRGB, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGB"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGBL"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "::armarx::aron::type::pointcloud::VoxelType::PointXYZRGBA"},
- {type::pointcloud::VoxelType::PointXYZHSV, "::armarx::aron::type::pointcloud::VoxelType::PointXYZHSV"}
- };
-
- const std::map<type::image::PixelType, std::string> PixelType2CppString =
- {
- {type::image::PixelType::rgb24, "::armarx::aron::type::image::PixelType::rgb24"},
- {type::image::PixelType::depth32, "::armarx::aron::type::image::PixelType::depth32"}
- };
-
- const std::map<type::quaternion::ElementType, std::string> QuaternionElementType2Cpp =
- {
- {type::quaternion::ElementType::float32, "::armarx::aron::type::quaternion::ElementType::float32"},
- {type::quaternion::ElementType::float64, "::armarx::aron::type::quaternion::ElementType::float64"}
+ {type::Maybe::NONE, "::armarx::aron::type::Maybe::NONE"},
+ {type::Maybe::OPTIONAL, "::armarx::aron::type::Maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "::armarx::aron::type::Maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "::armarx::aron::type::Maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "::armarx::aron::type::Maybe::UNIQUE_PTR"}
};
}
@@ -102,7 +70,7 @@ namespace armarx::aron::codegenerator::cpp
public:
// constructors
Generator() = delete;
- Generator(const std::string& instantiatedCppTypename, const std::string& classCppTypename, const std::string& aronDataTypename, const std::string& aronTypeTypename);
+ Generator(const std::string& instantiatedCppTypename /* used for templates, e.g. vector<string> */, const std::string& classCppTypename /* the raw typename, e.g. vector<T> */, const std::string& aronDataTypename, const std::string& aronTypeTypename);
virtual ~Generator() = default;
// public member methods
@@ -119,6 +87,7 @@ namespace armarx::aron::codegenerator::cpp
CppMethodPtr toSpecializedTypeWriterMethod(const WriterInfo& info) const;
// virtual override definitions
+ virtual std::vector<std::string> getRequiredIncludes() const;
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
CppCtorPtr toCtor(const std::string&) const;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
similarity index 56%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
index 46a5f23a01ebd163fb61dc0c5daf2695ab0bfc05..b81341ae2bf19f38cbb9928eafdbf9d3f0f9ffe5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
@@ -37,13 +37,43 @@ namespace armarx::aron::codegenerator::cpp::generator
simox::meta::get_type_name<type::dto::AnyObject>(),
e)
{
- if (type.getMaybe() != type::Maybe::eSharedPointer)
+ // if the type is not known, we only accept shared ptr for unspecified aron dicts
+ if (type.getMaybe() != type::Maybe::SHARED_PTR)
{
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "At the momen the any object type must be a shared_ptr! Got ", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "At the moment the unknown any object type must be a shared_ptr! ", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
}
+
}
/* virtual implementations */
+
+ std::vector<std::string> AnyObject::getRequiredIncludes() const
+ {
+ std::vector<std::string> required_includes = {"<RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>"};
+ return required_includes;
+ }
+
+ CppBlockPtr AnyObject::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ auto block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
+ variantAccessor = Generator::ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ block_if_data->addLine(variantAccessor + " = armarx::aron::data::readAndWrite<armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
+
+ return block_if_data;
+ }
+
+ CppBlockPtr AnyObject::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
+ {
+ auto block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
+
+ block_if_data->addLine(cppAccessor + " = armarx::aron::data::Dict::DynamicCastAndCheck(armarx::aron::data::readAndWrite<aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
+
+ return block_if_data;
+ }
+
CppBlockPtr AnyObject::getWriteTypeBlock(const std::string& typeAccessor, const std::string& accessor, const Path& p, std::string& variantAccessor) const
{
CppBlockPtr b = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
similarity index 76%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
index 5d777de42fb36bdd79fe7ef79ecc6662da45a08a..bfa7692ffd78cca516cb69e8a12e09d684ef9105 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/any/AnyObject.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/any/AnyObject.h>
@@ -38,6 +38,12 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~AnyObject() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
+
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
+
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.cpp
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.cpp
index 5d50b76c48b3aaf664722d97152e6390b8145b0e..946f160ba9b063fc4099c29e8f5a3d9914fa3f91 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.cpp
@@ -40,6 +40,12 @@ namespace armarx::aron::codegenerator::cpp::generator
}
// virtual implementations
+ std::vector<std::string> Dict::getRequiredIncludes() const
+ {
+ auto c = FromAronType(*type.getAcceptedType());
+ return c->getRequiredIncludes();
+ }
+
CppBlockPtr Dict::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
index 7db7bf2ca9cc5d58518aa799c7a2d18decfebc6c..ae26828fd345157dadf1f74d89c871727e5e1524 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Dict.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
{
@@ -37,9 +37,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Dict() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.cpp
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.cpp
index 76094035446a7f90a3d39afe85a8d1bd16ae3e23..e289361898f05b219b7036533c7d385c300fe180 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.cpp
@@ -39,6 +39,13 @@ namespace armarx::aron::codegenerator::cpp::generator
{
}
+
+ std::vector<std::string> List::getRequiredIncludes() const
+ {
+ auto c = FromAronType(*type.getAcceptedType());
+ return c->getRequiredIncludes();
+ }
+
CppBlockPtr List::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
index c126af2ad3aa868b365a6f38c312ef5b93a92a68..5c7302a684364a52fda82727c3c6f73a883222c4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/List.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/List.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,9 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~List() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5b734427b84bbd9fa139f6518110b55b7daf48ae
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.cpp
@@ -0,0 +1,173 @@
+/*
+ * 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
+ */
+
+// Header
+#include "Object.h"
+
+#include <SimoxUtility/meta/type_name.h>
+#include <SimoxUtility/algorithm/vector.hpp>
+
+namespace armarx::aron::codegenerator::cpp::generator
+{
+ const std::map<std::string, DTOObjectReplacement> DTO_REPLACEMENTS =
+ {
+ { "armarx::arondto::DateTime", {"armarx::arondto::DateTime", "armarx::arondto::DateTime", "armarx::core::time::DateTime", "armarx::core::time::DateTime",
+ {"<RobotAPI/libraries/aron/common/rw/time.h>"},
+ {}}},
+ { "armarx::arondto::Duration", {"armarx::arondto::Duration", "armarx::arondto::Duration", "armarx::core::time::Duration", "armarx::core::time::Duration",
+ {"<RobotAPI/libraries/aron/common/rw/time.h>"},
+ {"armarx::arondto::Frequency", "armarx::arondto::DateTime"}}},
+ { "armarx::arondto::FramedPosition", {"armarx::arondto::FramedPosition", "armarx::arondto::FramedPosition", "armarx::FramedPosition", "armarx::FramedPosition",
+ {"<RobotAPI/libraries/aron/common/rw/framed.h>"},
+ {}}},
+ { "armarx::arondto::FramedOrientation", {"armarx::arondto::FramedOrientation", "armarx::arondto::FramedOrientation", "armarx::FramedOrientation", "armarx::FramedOrientation",
+ {"<RobotAPI/libraries/aron/common/rw/framed.h>"},
+ {}}},
+ { "armarx::arondto::FramedPose", {"armarx::arondto::FramedPose", "armarx::arondto::FramedPose", "armarx::FramedPose", "armarx::FramedPose",
+ {"<RobotAPI/libraries/aron/common/rw/framed.h>"},
+ {}}}
+ };
+
+ bool checkForAllowedReplacement(const type::Object& t)
+ {
+ std::string name = t.getObjectNameWithTemplates();
+ if (DTO_REPLACEMENTS.count(name) > 0)
+ {
+ auto x = DTO_REPLACEMENTS.at(name);
+ bool b = std::find(x.disallowedBases.begin(), x.disallowedBases.end(), t.getPath().getRootIdentifier()) == x.disallowedBases.end();
+ return b;
+ }
+ return true;
+ }
+
+ std::string checkForInstantiationTypenameReplacement(const type::Object& t)
+ {
+ std::string name = t.getObjectNameWithTemplates();
+ if (checkForAllowedReplacement(t) && DTO_REPLACEMENTS.count(name) > 0)
+ {
+ auto x = DTO_REPLACEMENTS.at(name);
+ return x.replacedInstantiatedTypename;
+ }
+ return t.getObjectNameWithTemplateInstantiations();
+ }
+
+ std::string checkForClassNameReplacement(const type::Object& t)
+ {
+ std::string name = t.getObjectNameWithTemplates();
+ if (checkForAllowedReplacement(t) && DTO_REPLACEMENTS.count(name) > 0)
+ {
+ auto x = DTO_REPLACEMENTS.at(name);
+ return x.replacedTypename;
+ }
+ return name;
+ }
+
+ std::vector<std::string> checkForAdditionalIncludes(const type::Object& t)
+ {
+ std::string name = t.getObjectNameWithTemplates();
+ if (checkForAllowedReplacement(t) && DTO_REPLACEMENTS.count(name) > 0)
+ {
+ auto x = DTO_REPLACEMENTS.at(name);
+ return x.additionalIncludes;
+ }
+ return {};
+ }
+
+ // constructors
+ Object::Object(const type::Object& e) :
+ detail::ContainerGenerator<type::Object, Object>(
+ checkForInstantiationTypenameReplacement(e),
+ checkForClassNameReplacement(e),
+ simox::meta::get_type_name<data::dto::Dict>(),
+ simox::meta::get_type_name<type::dto::AronObject>(), e)
+ {
+ }
+
+
+ std::vector<std::string> Object::getRequiredIncludes() const
+ {
+ std::vector<std::string> ret;
+
+ // check for includes of members
+ for (const auto& [key, child] : type.getMemberTypes())
+ {
+ (void) key;
+ auto child_s = FromAronType(*child);
+ ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
+ }
+
+ // also check for additional includes from dto replacements
+ ret = simox::alg::appended(ret, checkForAdditionalIncludes(type));
+
+ return ret;
+ }
+
+ CppBlockPtr Object::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ std::vector<std::string> templatesQuoted;
+ for (const auto& t : type.getTemplateInstantiations())
+ {
+ templatesQuoted.push_back("\"" + t + "\"");
+ }
+
+ b->addLine("auto " + variantAccessor + " = " + type.getObjectNameWithTemplateInstantiations() + "::writeType(" + ARON_WRITER_ACCESSOR + ", " +
+ "{" + simox::alg::join(templatesQuoted, ", ") + "}, " +
+ conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
+ "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+ return b;
+ }
+
+ CppBlockPtr Object::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
+ variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
+
+ // if is dto replacement
+ block_if_data->addLine("armarx::aron::write(" + ARON_WRITER_ACCESSOR + ", " + resolved_accessor + ", " + variantAccessor + ", " + "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+
+ return resolveMaybeWriteBlock(block_if_data, cppAccessor);
+ }
+
+ CppBlockPtr Object::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ std::string escaped_accessor = EscapeAccessor(cppAccessor);
+ std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
+
+ if (const auto reset = resolveMaybeGenerator(cppAccessor); !reset.empty())
+ {
+ block_if_data->addLine(reset);
+ }
+
+ block_if_data->addLine("armarx::aron::read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + ", " + resolved_accessor + "); // of " + cppAccessor);
+
+ return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
similarity index 67%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
index a1a5af406007f0fc061ebf4eacb876fd4c55e394..b1a2995c443f4e680725fdcbfbf4ac6374d7c712 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Object.h
@@ -23,12 +23,23 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
namespace armarx::aron::codegenerator::cpp::generator
{
+ struct DTOObjectReplacement
+ {
+ std::string originalTypeName;
+ std::string originalInstantiatedTypename;
+ std::string replacedTypename;
+ std::string replacedInstantiatedTypename;
+
+ std::vector<std::string> additionalIncludes; // additional includes for the replaced type and aron conversions
+ std::vector<std::string> disallowedBases; // disallow replacement if the used in a specific class
+ };
+
class Object :
public detail::ContainerGenerator<type::Object, Object>
{
@@ -38,9 +49,9 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Object() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.cpp
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.cpp
index d4edd5476373c0c49029c39ccc7537259116192f..000938acceed8cf947f4317204431ae930534a8d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.cpp
@@ -25,7 +25,7 @@
#include "Pair.h"
#include <SimoxUtility/meta/type_name.h>
-
+#include <SimoxUtility/algorithm/vector.hpp>
namespace armarx::aron::codegenerator::cpp::generator
{
@@ -38,6 +38,18 @@ namespace armarx::aron::codegenerator::cpp::generator
{
}
+
+ std::vector<std::string> Pair::getRequiredIncludes() const
+ {
+ auto child_s1 = FromAronType(*type.getFirstAcceptedType());
+ auto child_s2 = FromAronType(*type.getSecondAcceptedType());
+
+ auto l1 = child_s1->getRequiredIncludes();
+ auto l2 = child_s2->getRequiredIncludes();
+
+ return simox::alg::appended(l1, l2);
+ }
+
CppBlockPtr Pair::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
index 0fc1c8f3ec11379c2692b9d07c8e93ebac244631..f37087d03021659aa0b7d362caeb9ff12eeffb69 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Pair.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Pair.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,9 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Pair() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
index 84db8b60aab51848000f36d38cc85c8ad6889151..2d49addc569ae4e5f1400f7d18794c1221115fd9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
@@ -25,6 +25,7 @@
#include "Tuple.h"
#include <SimoxUtility/meta/type_name.h>
+#include <SimoxUtility/algorithm/vector.hpp>
namespace armarx::aron::codegenerator::cpp::generator
{
@@ -37,6 +38,18 @@ namespace armarx::aron::codegenerator::cpp::generator
{
}
+
+ std::vector<std::string> Tuple::getRequiredIncludes() const
+ {
+ std::vector<std::string> ret;
+ for (const auto& child : type.getAcceptedTypes())
+ {
+ auto child_s = FromAronType(*child);
+ ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
+ }
+ return ret;
+ }
+
CppBlockPtr Tuple::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
index ada4efb7a85083d3be3509483dd6236ce1ff72b7..52e565e896f2ed27bc88ef892a3cde348122865f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/container/Tuple.h
@@ -24,7 +24,7 @@
#pragma once
#include <RobotAPI/libraries/aron/core/type/variant/container/Tuple.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h>
namespace armarx::aron::codegenerator::cpp::generator
@@ -38,9 +38,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Tuple() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
similarity index 70%
rename from source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
index b1726ae052dd6bde6c90a3beaa7f18a8b966c1d5..5260c3407b672a9cc99e03f63ae22048e57a9b48 100644
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
@@ -21,19 +21,21 @@
* GNU General Public License
*/
-// STD/STL
+#pragma once
+#include "SpecializedGenerator.h"
-// Header
-#include "AronCodeGenerator.h"
+#include <string>
-namespace armarx
+
+namespace armarx::aron::codegenerator::cpp::generator::detail
{
- namespace aron
+ template<typename typeT, typename DerivedT>
+ class AnyGenerator :
+ public SpecializedGeneratorBase<typeT, DerivedT>
{
- namespace codegenerator::cpp
- {
-
- }
- }
+ public:
+ using SpecializedGeneratorBase<typeT, DerivedT>::SpecializedGeneratorBase;
+ virtual ~AnyGenerator() = default;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
similarity index 99%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
index a8a3da7bc6aabab454ca7c9bc065422bf74b4860..a391de695dc589500bff7a8cb13793801f242744 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
@@ -25,7 +25,6 @@
#include "SpecializedGenerator.h"
-
namespace armarx::aron::codegenerator::cpp::generator::detail
{
template<typename typeT, typename DerivedT>
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
index 8df5c01fc2db121761b864481fd458361334e12b..ba487310e240d62c476ec40a74d55c91ed3c955e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.h>
#include <memory>
#include <string>
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
similarity index 98%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
index 3c9fa87f1c6eb86a2184f46d2729094510f01ab6..c818db64a05d881f8f3efee3ae9d2a767c8383ed 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
@@ -49,7 +49,7 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr IntEnum::getResetHardBlock(const std::string& accessor) const
{
CppBlockPtr b = std::make_shared<CppBlock>();
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
b->addLine(accessor + " = {};");
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
index f472129d93a75d6f3219151bb48017f1109e4eee..cd5b36bcef8300bbb57b88abdf14ca2bde9bc911 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/enum/IntEnum.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h>
#include <map>
@@ -44,10 +44,10 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~IntEnum() = default;
// virtual implementations
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/All.h
similarity index 68%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/All.h
index 04797adc4c1bc53fa0605eec7d764641b99871e3..fc5eca9a839eaeade25b182e5bcd1026df66140c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/All.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/All.h
@@ -5,9 +5,6 @@
#include "Quaternion.h"
#include "Image.h"
#include "PointCloud.h"
-#include "Position.h"
-#include "Orientation.h"
-#include "Pose.h"
namespace {
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
index 096ac6aee4a6b01c5f670e6962e72d44504911e0..aae1c701a7e23804273f60346a77e346bfee1daf 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
@@ -29,10 +29,10 @@
namespace armarx::aron::codegenerator::cpp::generator
{
- const std::map<type::image::PixelType, std::pair<std::string, int>> Image::PixelType2Cpp =
+ const std::map<type::image::PixelType, std::tuple<std::string, int, std::string>> PixelType2Cpp =
{
- { type::image::PixelType::rgb24, {"CV_8UC3", 3}},
- { type::image::PixelType::depth32, {"CV_32FC1", 4}},
+ { type::image::PixelType::RGB24, {"CV_8UC3", 3, "::armarx::aron::type::image::PixelType::RGB24"}},
+ { type::image::PixelType::DEPTH32, {"CV_32FC1", 4, "::armarx::aron::type::image::PixelType::DEPTH32"}},
};
@@ -46,11 +46,16 @@ namespace armarx::aron::codegenerator::cpp::generator
{
}
+ std::vector<std::string> Image::getRequiredIncludes() const
+ {
+ return {"<opencv2/core/core.hpp>"};
+ }
+
CppBlockPtr Image::getResetHardBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = detail::NDArrayGenerator<type::Image, Image>::getResetHardBlock(cppAccessor);
- block_if_data->addLine(cppAccessor + ".create(0, 0, " + PixelType2Cpp.at(type.getPixelType()).first + ");");
+ block_if_data->addLine(cppAccessor + ".create(0, 0, " + std::get<0>(PixelType2Cpp.at(type.getPixelType())) + ");");
return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
}
@@ -58,7 +63,7 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr Image::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + ".create(0, 0, " + PixelType2Cpp.at(type.getPixelType()).first + ");");
+ block_if_data->addLine(cppAccessor + ".create(0, 0, " + std::get<0>(PixelType2Cpp.at(type.getPixelType())) + ");");
return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
}
@@ -69,7 +74,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeImage(" + conversion::PixelType2CppString.at(type.getPixelType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeImage(" + std::get<2>(PixelType2Cpp.at(type.getPixelType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
similarity index 78%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
index a6722dbbeabed393b0eba5190be363b9c34f8d0e..72f6947c9405a1a202e8d1b94b9f990fca3fefbf 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Image.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h>
#include <map>
@@ -42,16 +42,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Image() = default;
// virtual implementations
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- /// Maps ARON pixel types to OpenCV image type constants.
- static const std::map<type::image::PixelType, std::pair<std::string, int>> PixelType2Cpp;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 6be43a1ab3ef836959de9c579421a5fc168654f5..2fbfad0e89159185d4481abde6fada3e9d79d14c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -29,26 +29,30 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::matrix::ElementType, std::pair<std::string, int>> Matrix::ElementType2Cpp =
+ const std::map<type::matrix::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
- {type::matrix::int16, {"short", 2}},
- {type::matrix::int32, {"int", 4}},
- {type::matrix::int64, {"long", 8}},
- {type::matrix::float32, {"float", 4}},
- {type::matrix::float64, {"double", 8}}
+ {type::matrix::INT16, {"short", 2, "::armarx::aron::type::matrix::INT16"}},
+ {type::matrix::INT32, {"int", 4, "::armarx::aron::type::matrix::INT32"}},
+ {type::matrix::INT64, {"long", 8, "::armarx::aron::type::matrix::INT64"}},
+ {type::matrix::FLOAT32, {"float", 4, "::armarx::aron::type::matrix::FLOAT32"}},
+ {type::matrix::FLOAT64, {"double", 8, "::armarx::aron::type::matrix::FLOAT64"}}
};
// constructors
Matrix::Matrix(const type::Matrix& n) :
detail::NDArrayGenerator<type::Matrix, Matrix>(
- "Eigen::Matrix<" + ElementType2Cpp.at(n.getElementType()).first + ", " + std::to_string(n.getRows()) + ", " + std::to_string(n.getCols()) + ">",
- "Eigen::Matrix<" + ElementType2Cpp.at(n.getElementType()).first + ", " + std::to_string(n.getRows()) + ", " + std::to_string(n.getCols()) + ">",
+ "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
+ "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::Matrix>(), n)
{
}
+ std::vector<std::string> Matrix::getRequiredIncludes() const
+ {
+ return {"<Eigen/Core>"};
+ }
+
CppBlockPtr Matrix::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
@@ -63,7 +67,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeMatrix((int) " + std::to_string(type.getRows()) + ", " +
"(int) " + std::to_string(type.getCols()) + ", " +
- conversion::MatrixElementType2CppString.at(type.getElementType()) + ", " +
+ std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
@@ -78,8 +82,8 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({(int) " + cppAccessor + nextEl() + "rows(), "+
"(int) " + cppAccessor + nextEl() + "cols(), " +
- std::to_string(ElementType2Cpp.at(type.getElementType()).second) + "}, "+
- "\"" + ElementType2Cpp.at(type.getElementType()).first + "\", "+
+ std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, "+
+ "\"" + std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
similarity index 80%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
index 491a3d19de4f6d4cf3c659897ebeab5ae05f22a7..9f56f2b986f199af4e662e342b5f7dc7040d778b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h>
#include <map>
@@ -41,13 +41,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Matrix() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- static const std::map<type::matrix::ElementType, std::pair<std::string, int>> ElementType2Cpp;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
index 428ca861d7ce36ba3a79bbe6c664511c20d9e412..3b1d3d2ccc5129bfdbb53444d561b896a91d87f0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h>
#include <string>
@@ -41,9 +41,9 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~NDArray() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
+ 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
similarity index 75%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
index aac65ba17d2c4a43e64622ac0b2c184eda2de395..78e42fe0850ee5f0ec665fe8c69eac4a70138317 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
@@ -29,30 +29,34 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::pointcloud::VoxelType, std::pair<std::string, int>> PointCloud::VoxelType2Cpp =
+ const std::map<type::pointcloud::VoxelType, std::tuple<std::string, int, std::string>> VoxelType2Cpp =
{
// see http://docs.ros.org/en/groovy/api/pcl/html/point__types_8hpp_source.html
- {type::pointcloud::VoxelType::PointXYZ, {"pcl::PointXYZ", 16}},
- {type::pointcloud::VoxelType::PointXYZI, {"pcl::PointXYZI", 32}},
- {type::pointcloud::VoxelType::PointXYZL, {"pcl::PointXYZL", 32}},
- {type::pointcloud::VoxelType::PointXYZRGB, {"pcl::PointXYZRGB", 32}},
- {type::pointcloud::VoxelType::PointXYZRGBL, {"pcl::PointXYZRGBL", 32}},
- {type::pointcloud::VoxelType::PointXYZRGBA, {"pcl::PointXYZRGBA", 32}},
- {type::pointcloud::VoxelType::PointXYZHSV, {"pcl::PointXYZHSV", 32}}
+ {type::pointcloud::VoxelType::POINT_XYZ, {"pcl::PointXYZ", 16, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZ"}},
+ {type::pointcloud::VoxelType::POINT_XYZI, {"pcl::PointXYZI", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZI"}},
+ {type::pointcloud::VoxelType::POINT_XYZL, {"pcl::PointXYZL", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZL"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, {"pcl::PointXYZRGB", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGB"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, {"pcl::PointXYZRGBL", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGBL"}},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, {"pcl::PointXYZRGBA", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZRGBA"}},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, {"pcl::PointXYZHSV", 32, "::armarx::aron::type::pointcloud::VoxelType::POINT_XYZHSV"}}
};
// constructors
PointCloud::PointCloud(const type::PointCloud& n) :
detail::NDArrayGenerator<type::PointCloud, PointCloud>(
- "pcl::PointCloud<" + VoxelType2Cpp.at(n.getVoxelType()).first + ">",
- "pcl::PointCloud<" + VoxelType2Cpp.at(n.getVoxelType()).first + ">",
+ "pcl::PointCloud<" + std::get<0>(VoxelType2Cpp.at(n.getVoxelType())) + ">",
+ "pcl::PointCloud<" + std::get<0>(VoxelType2Cpp.at(n.getVoxelType())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::PointCloud>(),
n)
{
}
+ std::vector<std::string> PointCloud::getRequiredIncludes() const
+ {
+ return {"<pcl/point_cloud.h>", "<pcl/point_types.h>"};
+ }
+
CppBlockPtr PointCloud::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
@@ -66,7 +70,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePointCloud(" + conversion::VoxelType2CppString.at(type.getVoxelType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePointCloud(" + std::get<2>(VoxelType2Cpp.at(type.getVoxelType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
@@ -78,8 +82,8 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height, " + std::to_string(VoxelType2Cpp.at(type.getVoxelType()).second) + "}, "+
- "\"" + VoxelType2Cpp.at(type.getVoxelType()).first + "\", "+
+ block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height, " + std::to_string(std::get<1>(VoxelType2Cpp.at(type.getVoxelType()))) + "}, "+
+ "\"" + std::get<0>(VoxelType2Cpp.at(type.getVoxelType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
similarity index 80%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
index 3c1770656c5c40035129e34373523fc971bf2216..9edc5a318356220a01b67c07d2f7a0e1d5acd49e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h>
#include <map>
@@ -40,13 +40,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~PointCloud() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const override;
-
- public:
- static const std::map<type::pointcloud::VoxelType, std::pair<std::string, int>> VoxelType2Cpp;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
index c7e9ba4b94cba74ba5166e03befe67ab9c3284e5..32dae76ef8e2678e23e5fbec75133d5b4416f4ed 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
@@ -29,24 +29,28 @@
namespace armarx::aron::codegenerator::cpp::generator
{
-
- const std::map<type::quaternion::ElementType, std::pair<std::string, int>> Quaternion::ElementType2Cpp =
+ const std::map<type::quaternion::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
- {type::quaternion::ElementType::float32, {"float", 4}},
- {type::quaternion::ElementType::float64, {"double", 8}}
+ {type::quaternion::ElementType::FLOAT32, {"float", 4, "::armarx::aron::type::quaternion::ElementType::FLOAT32"}},
+ {type::quaternion::ElementType::FLOAT64, {"double", 8, "::armarx::aron::type::quaternion::ElementType::FLOAT64"}}
};
// constructors
Quaternion::Quaternion(const type::Quaternion& n) :
detail::NDArrayGenerator<type::Quaternion, Quaternion>(
- "Eigen::Quaternion<" + ElementType2Cpp.at(n.getElementType()).first + ">",
- "Eigen::Quaternion<" + ElementType2Cpp.at(n.getElementType()).first + ">",
+ "Eigen::Quaternion<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ">",
+ "Eigen::Quaternion<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ">",
simox::meta::get_type_name<data::dto::NDArray>(),
simox::meta::get_type_name<type::dto::Quaternion>(),
n)
{
}
+ std::vector<std::string> Quaternion::getRequiredIncludes() const
+ {
+ return {"<Eigen/Core>", "<Eigen/Geometry>"};
+ }
+
CppBlockPtr Quaternion::getResetSoftBlock(const std::string& cppAccessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
@@ -60,7 +64,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeQuaternion(" + conversion::QuaternionElementType2Cpp.at(type.getElementType()) + ", " +
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeQuaternion(" + std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
return b;
@@ -72,8 +76,8 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({1, 4, " + std::to_string(ElementType2Cpp.at(type.getElementType()).second) + "}, "+
- "\"" + ElementType2Cpp.at(type.getElementType()).first + "\", "+
+ block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({1, 4, " + std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, "+
+ "\"" + std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", "+
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "coeffs().data()), "+
"armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
similarity index 80%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
index cc39ad162402f7489ed1c698f076ee80ff6a97bd..f744681595d1aea76b8e5b29224313e41b056baa 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
@@ -24,7 +24,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h>
#include <map>
@@ -41,13 +41,11 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Quaternion() = default;
// virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
-
- public:
- static const std::map<type::quaternion::ElementType, std::pair<std::string, int>> ElementType2Cpp;
+ std::vector<std::string> getRequiredIncludes() 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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/All.h
similarity index 88%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/All.h
index 0d0df90fb84d8299b16b20f1ba467a10aa59c926..5865212424750cfad551e5ed259d9b9dfc399438 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/All.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/All.h
@@ -6,7 +6,6 @@
#include "Double.h"
#include "String.h"
#include "Bool.h"
-#include "Time.h"
namespace {
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
index 082859e005bbb6bfd88b24844ffccddd2477e75f..85172f3de8745ac5b2feb465cd9ff8408e94cd56 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Bool.h
@@ -39,6 +39,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Bool() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
index dc65d42d9677b4bc1389a12e8710198dae4049cb..e109cc626500ce4004f2b69b670ed9574c947ea5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Double.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Double.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Double() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
index 3e438126218578248527210891234149d4351750..a2f52f4fb7d78ebcefcd96ba3eba8d0b31fc7dcb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Float.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Float.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Float() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
index a57193e00ea590cd30ce42345c8a002e62126593..eb18e445473f402c2be373da523ba92336a4ab48 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Int.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Int.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Int() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
index c16b8c43924fb3c4fe2af5652e6778d49b14c2d3..8e74bf85b421ff3101af4f86a3edcdc91858559a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/Long.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Long.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~Long() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.cpp
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
similarity index 90%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
index 254cd4e848f2b1de4543d3c68c8fcd61451d302f..7db96c8713e04a479d4f1623043f633d4d429f84 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/primitive/String.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
@@ -38,6 +38,6 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~String() = default;
/* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override;
+ CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/All.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/All.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/All.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/All.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
similarity index 92%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index 2b7b645503e2c6572f3b0d9c66faa9010bcc9697..6c3717520d48ee01a83a31d76769e8b6dd273f69 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -38,7 +38,7 @@ namespace armarx::aron::codegenerator::cpp::generator
simox::meta::get_type_name<type::dto::IntEnum>(),
n)
{
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level int enum declaration is set. This is not valid!", std::to_string((int) type.getMaybe()), type.getPath());
}
@@ -73,10 +73,10 @@ namespace armarx::aron::codegenerator::cpp::generator
enum_to_value << "\t}";
value_to_enum << "\t}";
- fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str(), "Mapping enum values to readable strings"));
- fields.push_back(std::make_shared<CppField>("const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str(), "Mapping readable strings to enum values"));
- fields.push_back(std::make_shared<CppField>("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>("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>("static inline const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str(), "Mapping enum values to readable strings"));
+ fields.push_back(std::make_shared<CppField>("static inline const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str(), "Mapping readable strings to enum values"));
+ 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"));
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
similarity index 88%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
index 1d105b79c70e809d0b94614c648078e1897e92a4..b03310d425bb6783f618e9548d573a87b87c77dc 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h>
#include <map>
@@ -41,13 +41,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~IntEnumClass() = default;
// virtual implementations
- std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
// TODO: Move some of those methods to upper class for enums (if we want to support multiple enums)
CppCtorPtr toCopyCtor(const std::string&) const;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index cf15c169b4afec4e5fd833e40bb16b6e74672dc8..0d54dc8bf173b1262ecbc938a6c1678fb1dff8b2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -25,6 +25,7 @@
#include "ObjectClass.h"
#include <SimoxUtility/meta/type_name.h>
+#include <SimoxUtility/algorithm/vector.hpp>
namespace armarx::aron::codegenerator::cpp::generator
@@ -32,17 +33,29 @@ namespace armarx::aron::codegenerator::cpp::generator
// constructors
ObjectClass::ObjectClass(const type::Object& e) :
detail::SpecializedGeneratorBase<type::Object, ObjectClass>(
- e.getObjectName(),
+ e.getObjectNameWithTemplateInstantiations(), // should be similar to the object name
e.getObjectNameWithTemplates(),
simox::meta::get_type_name<data::dto::Dict>(),
simox::meta::get_type_name<type::dto::AronObject>(), e)
{
- if (type.getMaybe() != type::Maybe::eNone)
+ if (type.getMaybe() != type::Maybe::NONE)
{
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
}
}
+ std::vector<std::string> ObjectClass::getRequiredIncludes() const
+ {
+ std::vector<std::string> ret;
+ for (const auto& [key, child] : type.getMemberTypes())
+ {
+ (void) key;
+ auto child_s = FromAronType(*child);
+ ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
+ }
+ return ret;
+ }
+
std::vector<CppFieldPtr> ObjectClass::getPublicVariableDeclarations(const std::string&) const
{
std::vector<CppFieldPtr> fields;
@@ -106,7 +119,7 @@ namespace armarx::aron::codegenerator::cpp::generator
b->addLine("auto " + OBJECT_EXTENDS_ACCESSOR + " = " + extends_s->getFullInstantiatedCppTypename() + "::writeType(" +
ARON_WRITER_ACCESSOR + ", " +
"{" + simox::alg::join(type.getExtends()->getTemplateInstantiations(), ", ") + "}, " +
- "::armarx::aron::type::Maybe::eNone);");
+ "::armarx::aron::type::Maybe::NONE);");
}
else
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
similarity index 82%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
index 8d7a996ef5e0baa081257a4bae4ce09b9425a8a5..dd8e7d3d95bb291a54aeba45d46bae8bbf336834 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
@@ -23,7 +23,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -38,12 +38,13 @@ namespace armarx::aron::codegenerator::cpp::generator
virtual ~ObjectClass() = default;
// virtual implementations
- std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
- CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string&) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string&) const override;
- CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ std::vector<std::string> getRequiredIncludes() const final;
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(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;
+ CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string&) const final;
+ CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string&) const final;
+ CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const final;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e57da47b6d56c9d33a146a609c6dcba9c6c06f30
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -0,0 +1,147 @@
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+find_package(OpenCV QUIET)
+armarx_build_if(OpenCV_FOUND "OpenCV not available")
+
+find_package(PCL QUIET)
+armarx_build_if(PCL_FOUND "PCL not available")
+
+######################
+# ARON OPERATOR TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronOperatorTest
+ TEST_FILE
+ aronOperatorTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ aron
+ aroncommon
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+######################
+# ARON CODE GEN TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronCodeGenerationTest
+ TEST_FILE
+ aronCodeGenerationTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/AnyTest.xml
+ aron/TemplateTest.xml
+ aron/DictTest.xml
+ aron/MatrixTest.xml
+ aron/QuaternionTest.xml
+ aron/EnumTest.xml
+ aron/HumanPoseTest.xml
+ aron/ImageTest.xml
+ aron/ListTest.xml
+ aron/NaturalIKTest.xml
+ aron/ObjectTest.xml
+ aron/OrientationTest.xml
+ aron/PointCloudTest.xml
+ aron/PoseTest.xml
+ aron/PositionTest.xml
+ aron/PrimitiveTest.xml
+ aron/OptionalTest.xml
+ aron/DtoTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+ ${Eigen3_INCLUDE_DIR}
+ ${IVT_INCLUDE_DIRS}
+ ${OpenCV_INCLUDE_DIRS}
+ ${PCL_INCLUDE_DIRS}
+)
+
+######################
+# ARON NAVIGATE TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronNavigateTest
+ TEST_FILE
+ aronNavigateTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/NaturalIKTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+######################
+# ARON EXTENDS TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronExtendsTest
+ TEST_FILE
+ aronExtendsTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/BaseClassTest.xml
+ aron/DerivedClassTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
+########################
+# ARON RANDOMIZED TEST #
+########################
+#armarx_add_test(
+# TEST_NAME
+# aronRandomizedTest
+# TEST_FILE
+# aronRandomizedTest.cpp
+# LIBS
+# SimoxUtility # Simox::SimoxUtility
+# ArmarXCore
+# RobotAPI::aron
+# ivt
+# ivtopencv
+# ${PCL_COMMON_LIBRARIES}
+# aronjsonconverter
+# ARON_FILES
+# aron/DictTest.xml
+# aron/MatrixTest.xml
+# aron/QuaternionTest.xml
+# aron/EnumTest.xml
+# aron/HumanPoseTest.xml
+# aron/ListTest.xml
+# aron/NaturalIKTest.xml
+# aron/ObjectTest.xml
+# aron/OrientationTest.xml
+# aron/PointCloudTest.xml
+# aron/PoseTest.xml
+# aron/PositionTest.xml
+# aron/PrimitiveTest.xml
+# aron/OptionalTest.xml
+# aron/ImageTest.xml
+# INCLUDE_DIRECTORIES
+# ${Simox_INCLUDE_DIR}
+# ${Eigen3_INCLUDE_DIR}
+# ${IVT_INCLUDE_DIRS}
+# ${OpenCV_INCLUDE_DIRS}
+# ${PCL_INCLUDE_DIRS}
+#)
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/AnyTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/AnyTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
index fba1b8461bb41ffe9af7b62d044f6adf5aaea130..47c12680ff9adb38b8b26fa91c526ccca04bd21e 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.xml
@@ -1,9 +1,10 @@
<!--This class contains the data structure for NaturalIKResults -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml>" autoinclude="true" />
- </AronIncludes>
+ <Includes>
+ <PackagePath package="RobotAPI" path="libraries/aron/codegeneration/test/aron/BaseClassTest.xml" />
+ </Includes>
+
<GenerateTypes>
<Object name='armarx::DerivedClassTest' extends="armarx::BaseClassTest" doc-brief="This is a brief doc" doc-author="Itse me, Mario!">
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.xml
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d25bdefdd140dac7b1168bff4dcdbc68fd3cb878
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.xml
@@ -0,0 +1,28 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::DtoTest'>
+ <objectchild key='the_time'>
+ <datetime />
+ </ObjectChild>
+ <objectchild key='the_time2'>
+ <time />
+ </ObjectChild>
+ <objectchild key='the_duration'>
+ <duration />
+ </ObjectChild>
+ <objectchild key='the_pos'>
+ <framedposition />
+ </ObjectChild>
+ <objectchild key='the_ori'>
+ <framedorientation />
+ </ObjectChild>
+ <objectchild key='the_pose'>
+ <framedpose />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+
+
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/IKResult.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/IKResult.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.xml
similarity index 83%
rename from source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.xml
index f53a4f853481763806d75ffd0ababee22cd8561f..e986d262dde3d7f09148e66f38ac455f6e559880 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.xml
@@ -1,9 +1,6 @@
<!-- An RGB and a depth image. -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<opencv2/core/core.hpp>" />
- </CodeIncludes>
<GenerateTypes>
<Object name='armarx::ImageTest'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/MatrixTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.xml
similarity index 92%
rename from source/RobotAPI/libraries/aron/core/test/aron/MatrixTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.xml
index 7d24f84484d491997eb1b96002276e47336194d3..6f3ac17cda75c880d487a2a2319f02fee25017cc 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/MatrixTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.xml
@@ -1,9 +1,6 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
<AronIncludes>
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
similarity index 95%
rename from source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
index 2b0d2d39810d2d1c05d4c40bba55ee36fc29615a..29b58d4594a99b5845c25fcbfe003d97bb89b763 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.xml
@@ -1,8 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
+ <Include>
+ <SystemInclude package="" path="Eigen/Core" />
+ </Include>
+
<GenerateTypes>
<Object name="armarx::OptionalTestElement">
<ObjectChild key="val">
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.xml
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.xml
index c5c531e48855014722aa5ad91b29799c995eb098..5c23de5f95be8b7052529ed4e8e0d190854e66db 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.xml
@@ -1,9 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
-
<GenerateTypes>
<Object name='armarx::OrientationTest'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PointCloudTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.xml
similarity index 73%
rename from source/RobotAPI/libraries/aron/core/test/aron/PointCloudTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.xml
index 3387de7bcce7ddf97ee9f91df6702abd876c067e..174065d57e1471bc39d44b3edba99fdad96768e1 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/PointCloudTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.xml
@@ -1,12 +1,6 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<pcl/point_cloud.h>" />
- <Include include="<pcl/point_types.h>" />
- </CodeIncludes>
- <AronIncludes>
- </AronIncludes>
<GenerateTypes>
<Object name='armarx::PointCloudTest'>
<ObjectChild key='the_xyzrgb_pcl_pointcloud'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.xml
similarity index 76%
rename from source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.xml
index 4af320525509ee7ce05b0b5c60e22d14fd555f6b..cb0204202933cf976c0c2d6b52513df6fbdbba5c 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.xml
@@ -1,8 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
<GenerateTypes>
<Object name='armarx::PoseTest'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.xml
similarity index 77%
rename from source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.xml
index 64d9392fe8415b75ee59f896d3be7aa4b42bd9ae..d479592007a94e1e9cf07ddf354611d30dfe0ea9 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.xml
@@ -1,8 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- </CodeIncludes>
<GenerateTypes>
<Object name='armarx::PositionTest'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
similarity index 89%
rename from source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
index ea38c815ffb08531d29d1ae9401aba7ff72ba479..1770306699daf5f27d4fbe9d820c47a04b6b68b6 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.xml
@@ -21,9 +21,6 @@
<objectchild key='the_bool'>
<bool />
</ObjectChild>
- <objectchild key='the_time'>
- <time />
- </ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/QuaternionTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.xml
similarity index 79%
rename from source/RobotAPI/libraries/aron/core/test/aron/QuaternionTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.xml
index a5f2522e2efa683a3c72075f058460fca4d92fae..7f05b73af2665f94483e2aa5aca9242b15b9d4d5 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/QuaternionTest.xml
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.xml
@@ -1,11 +1,6 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Geometry>" />
- </CodeIncludes>
- <AronIncludes>
- </AronIncludes>
<GenerateTypes>
<Object name='armarx::EigenQuaternionTest'>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/TemplateTest.xml b/source/RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aron/TemplateTest.xml
rename to source/RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
similarity index 88%
rename from source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
index 392739b2d4de4681cbfda63abbd41b93a10ff692..e9c8ad44b3de2bb5af9dc2248f32ac628611c4ee 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronCodeGenerationTest.cpp
@@ -38,25 +38,23 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
-// Aron
-#include <RobotAPI/libraries/aron/core/test/Randomizer.h>
-
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/TemplateTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/AnyTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ListTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ImageTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/MatrixTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/QuaternionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PointCloudTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PositionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OrientationTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PoseTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/EnumTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OptionalTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/TemplateTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/AnyTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ListTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DictTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PrimitiveTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ObjectTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/ImageTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/MatrixTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/QuaternionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PointCloudTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PositionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/OrientationTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/PoseTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/EnumTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/OptionalTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DtoTest.aron.generated.h>
using namespace armarx;
using namespace aron;
@@ -266,7 +264,6 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationPrimitiveTest)
BOOST_CHECK_EQUAL(p.the_int, 0);
BOOST_CHECK_EQUAL(p.the_long, 0);
BOOST_CHECK_EQUAL(p.the_string, "");
- BOOST_CHECK(p.the_time == IceUtil::Time());
}
@@ -288,7 +285,7 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationOptionalTest)
BOOST_CHECK_EQUAL(typeid(p.some_string), typeid(std::optional<std::string>));
auto aronType = p.ToAronType();
- BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe(), aron::type::Maybe::eOptional);
+ BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe(), aron::type::Maybe::OPTIONAL);
BOOST_CHECK(not p.some_float.has_value());
auto aron = p.toAron();
diff --git a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
similarity index 93%
rename from source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
index 81a11bda2b8f163a09fe18669f1bc322db3f1f39..df673534548fb07a2a67e9eb80aed77ca249f988 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronExtendsTest.cpp
@@ -42,8 +42,8 @@
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/BaseClassTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/BaseClassTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/DerivedClassTest.aron.generated.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
similarity index 95%
rename from source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
index e7d0393c6f750cd35db4500c6ad7dad274b5b3cb..a216940735679977b01382ca0c147c0596e1a025 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronNavigateTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronNavigateTest.cpp
@@ -38,11 +38,8 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
-// Aron
-#include <RobotAPI/libraries/aron/core/test/Randomizer.h>
-
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/NaturalIKTest.aron.generated.h>
using namespace armarx;
using namespace aron;
diff --git a/source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronOperatorTest.cpp
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/aronOperatorTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronOperatorTest.cpp
diff --git a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronRandomizedTest.cpp
similarity index 97%
rename from source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/test/aronRandomizedTest.cpp
index cf7821c558e08be632b8c02ca0a3bcda8ea9e603..f0dd82776d995a27f9559781e182977358be6e6a 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronRandomizedTest.cpp
@@ -139,7 +139,7 @@ void test_toAron(T& in, T& out)
{
Randomizer r;
- data::DictPtr in_aron_nav = in.toAron();
+ aron::data::DictPtr in_aron_nav = in.toAron();
BOOST_TEST_CONTEXT("initialize in aron randomly")
{
type::ObjectPtr in_type_nav = in.ToAronType();
@@ -147,13 +147,13 @@ void test_toAron(T& in, T& out)
}
BOOST_TEST_INFO("getting in aron");
- data::dto::DictPtr in_aron = in_aron_nav->toAronDictDTO();
+ aron::data::dto::DictPtr in_aron = in_aron_nav->toAronDictDTO();
BOOST_CHECK(in_aron);
//BOOST_TEST_MESSAGE("in_aron_nav: \n" << converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in_aron_nav).dump(2));
//BOOST_TEST_MESSAGE("out.toAron(): \n" << converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(out.toAron()).dump(2));
- data::DictPtr out_aron_nav;
+ aron::data::DictPtr out_aron_nav;
BOOST_TEST_CONTEXT("setting out aron from in aron")
{
out.fromAron(in_aron_nav);
@@ -162,7 +162,7 @@ void test_toAron(T& in, T& out)
out_aron_nav = out.toAron();
BOOST_CHECK(*in_aron_nav == *out_aron_nav);
- data::dto::DictPtr out_aron = out_aron_nav->toAronDictDTO();
+ aron::data::dto::DictPtr out_aron = out_aron_nav->toAronDictDTO();
BOOST_CHECK(out_aron);
}
@@ -171,7 +171,7 @@ void test_toAron(T& in, T& out)
in.fromAron(out_aron_nav);
BOOST_CHECK(in == out);
- data::DictPtr in_aron_nav_again = in.toAron();
+ aron::data::DictPtr in_aron_nav_again = in.toAron();
BOOST_TEST_MESSAGE("in_aron_nav: \n" << converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in_aron_nav).dump(2));
BOOST_TEST_MESSAGE("in_aron_nav_again: \n" << converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in_aron_nav_again).dump(2));
diff --git a/source/RobotAPI/libraries/aron/core/typereader/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/core/typereader/Reader.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
index d09c5967d34b70ee0d68ef7c72d233ca30c187e9..97f38f8b848543fa44bd1db0cb05db2f16cd8c5e 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/Reader.h
@@ -29,10 +29,10 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/ReaderInfo.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/helper/WriterInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
namespace armarx::aron::typereader
{
@@ -54,7 +54,7 @@ namespace armarx::aron::typereader
std::vector<std::string> getCodeIncludes() const
{
- return codeIncludes;
+ return systemIncludes;
}
std::vector<std::string> getAronIncludes() const
{
@@ -80,7 +80,7 @@ namespace armarx::aron::typereader
protected:
std::vector<std::string> alreadyParsedXMLFiles;
- std::vector<std::string> codeIncludes;
+ std::vector<std::string> systemIncludes;
std::vector<std::string> aronIncludes;
std::vector<codegenerator::ReaderInfo> readers;
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
similarity index 86%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
index 1c84a04f5d16b5a06412092bc908c8ce65128154..925582621433aa3f679dccee50af2b7e2dcad6d7 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.cpp
@@ -46,7 +46,7 @@ namespace armarx::aron::typereader::xml
{
if (!HasAttribute(node, att))
{
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "A <" + node.name() + ">-tag does not have the correct attribute", att);
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "A <" + node.name() + ">-tag does not have the '"+att+"' attribute", simox::alg::to_string(node.get_all_attributes()));
}
}
@@ -61,7 +61,7 @@ namespace armarx::aron::typereader::xml
return node.attribute_value(att.c_str());
}
- std::string util::GetAttributeWithDefault(const armarx::RapidXmlReaderNode& node, const std::string& att, const std::string def)
+ std::string util::GetAttributeWithDefault(const armarx::RapidXmlReaderNode& node, const std::string& att, const std::string& def)
{
if (!(HasAttribute(node, att)))
{
@@ -75,7 +75,7 @@ namespace armarx::aron::typereader::xml
if (HasAttribute(node, att))
{
std::string v = simox::alg::to_lower(node.attribute_value(att.c_str()));
- if (v == "1" or v == "true" or v == "wahr" or v == "yes" or v == "ja" or v == "")
+ if (v == "1" or v == "true" or v == "yes" or v == "ja" or v == "")
{
return true;
}
@@ -92,10 +92,22 @@ namespace armarx::aron::typereader::xml
{
if (!(HasTagName(node, name)))
{
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node <" + node.name() + "> has the wrong tag", name);
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node has the wrong tag. Expected: " + name, node.name());
}
}
+ void util::EnforceTagNames(const RapidXmlReaderNode& node, const std::vector<std::string>& names)
+ {
+ for (const auto& name : names)
+ {
+ if (HasTagName(node, name))
+ {
+ return;
+ }
+ }
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "The node has the wrong tag. Expected one of: " + simox::alg::to_string(names, ", "), node.name());
+ }
+
std::string util::GetTagName(const armarx::RapidXmlReaderNode& node)
{
return simox::alg::to_lower(node.name());
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
similarity index 65%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
index 26fb8f36c2537957cc7a04590765238971e7fcea..a2b724af0ceb6a029c76db86341e8445c725eebc 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
@@ -43,13 +43,16 @@ namespace armarx::aron::typereader::xml
const std::string TYPE_DEFINITION_TAG = "arontypedefinition";
const std::string CODE_INCLUDES_TAG = "codeincludes";
- const std::string INCLUDES_TAG = "aronincludes";
- const std::string GENERATE_TYPES_TAG = "generatetypes";
- const std::string AUTO_CODE_INCLUDE = "autoinclude";
-
+ const std::string ARON_INCLUDES_TAG = "aronincludes";
+ const std::string INCLUDES_TAG = "includes";
+ const std::string SYSTEM_INCLUDE_TAG = "systeminclude";
+ const std::string PACKAGE_PATH_TAG = "packagepath";
const std::string INCLUDE_TAG = "include";
+ const std::string GENERATE_TYPES_TAG = "generatetypes";
// Attribute names
+ const std::string ARON_ATTRIBUTE_NAME = "aron";
+ const std::string CODE_ATTRIBUTE_NAME = "code";
const std::string METHOD_ATTRIBUTE_NAME = "method";
const std::string RETURN_ATTRIBUTE_NAME = "return";
const std::string ARGUMENT_TYPE_ATTRIBUTE_NAME = "argumenttype";
@@ -68,14 +71,15 @@ namespace armarx::aron::typereader::xml
const std::string COLS_ATTRIBUTE_NAME = "cols";
const std::string DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
const std::string SHAPE_ATTRIBUTE_NAME = "shape";
- const std::string OPTIONAL_NAME = "optional";
- const std::string RAW_PTR_NAME = "raw_ptr";
- const std::string SHARED_PTR_NAME = "shared_ptr";
- const std::string UNIQUE_PTR_NAME = "unique_ptr";
- const std::string PACKAGE_NAME = "package";
- const std::string DOC_BRIEF_NAME = "doc-brief";
- const std::string DOC_AUTHOR_NAME = "doc-author";
- const std::string DOC_PARAM_NAME = "doc-param";
+ const std::string OPTIONAL_ATTRIBUTE_NAME = "optional";
+ const std::string RAW_PTR_ATTRIBUTE_NAME = "raw_ptr";
+ const std::string SHARED_PTR_ATTRIBUTE_NAME = "shared_ptr";
+ const std::string UNIQUE_PTR_ATTRIBUTE_NAME = "unique_ptr";
+ const std::string PACKAGE_ATTRIBUTE_NAME = "package";
+ const std::string DOC_BRIEF_ATTRIBUTE_NAME = "doc-brief";
+ const std::string DOC_AUTHOR_ATTRIBUTE_NAME = "doc-author";
+ const std::string DOC_PARAM_ATTRIBUTE_NAME = "doc-param";
+ const std::string PATH_ATTRIBUTE_NAME = "path";
// Second level tags. Only important if in specific top level tag
const std::string OBJECT_CHILD_TAG = "objectchild";
@@ -93,17 +97,33 @@ namespace armarx::aron::typereader::xml
const std::string QUATERNION_TAG = "quaternion";
const std::string IMAGE_TAG = "image";
const std::string POINT_CLOUD_TAG = "pointcloud";
- const std::string POSITION_TAG = "position";
- const std::string ORIENTATION_TAG = "orientation";
- const std::string POSE_TAG = "pose";
const std::string INT_TAG = "int";
const std::string LONG_TAG = "long";
const std::string FLOAT_TAG = "float";
const std::string DOUBLE_TAG = "double";
const std::string STRING_TAG = "string";
const std::string BOOL_TAG = "bool";
- const std::string TIME_TAG = "time";
const std::string ANY_OBJECT_TAG = "anyobject";
+
+ // others
+ const std::vector<std::string> WHATEVER_VALUES = {"?"};
+
+ // Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}})
+ const std::map<std::string, std::pair<std::string, std::pair<std::string, std::string>>> REPLACEMENTS =
+ {
+ {"position", {"<matrix rows='3' cols='1' type='float32' />", {}}},
+ {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}}},
+ {"orientation", {"<quaternion type='float32' />", {}}},
+
+ // You can also add replacements for arondtos here!
+ // structure: {xml-identifier, {replacement, auto-include}}
+ {"datetime", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
+ {"time", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
+ {"duration", {"<armarx::arondto::Duration />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
+ {"framedposition", {"<armarx::arondto::FramedPosition />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}},
+ {"framedorientation", {"<armarx::arondto::FramedOrientation />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}},
+ {"framedpose", {"<armarx::arondto::FramedPose />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}}
+ };
}
@@ -114,11 +134,12 @@ namespace armarx::aron::typereader::xml
void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
- std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string def);
+ std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
void EnforceTagName(const RapidXmlReaderNode& node, const std::string& name);
+ void EnforceTagNames(const RapidXmlReaderNode& node, const std::vector<std::string>& names);
std::string GetTagName(const RapidXmlReaderNode& node);
void EnforceChildSizeSmaller(const RapidXmlReaderNode& node, const size_t size);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
similarity index 66%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
index 1e25870a0a52de31ee2c6bce4ffdaca60c394db3..9b17f8aa6ec6cfb67dbb14ccaae3e97eb9b5c111 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
@@ -35,76 +35,77 @@
namespace armarx::aron::typereader::xml
{
- //std::map<std::string, typereader::GenerateObjectInfo> ReaderFactory::allGeneratedPublicObjects;
- //std::map<std::string, typereader::GenerateIntEnumInfo> ReaderFactory::allGeneratedPublicIntEnums;
type::VariantPtr ReaderFactory::create(const RapidXmlReaderNode& node, const Path& path)
{
static const std::map<std::string, type::Descriptor> String2Descriptor =
{
- {constantes::LIST_TAG, type::Descriptor::eList},
- {constantes::OBJECT_TAG, type::Descriptor::eObject},
- {constantes::TUPLE_TAG, type::Descriptor::eTuple},
- {constantes::PAIR_TAG, type::Descriptor::ePair},
- {constantes::DICT_TAG, type::Descriptor::eDict},
- {constantes::NDARRAY_TAG, type::Descriptor::eNDArray},
- {constantes::MATRIX_TAG, type::Descriptor::eMatrix},
- {constantes::QUATERNION_TAG, type::Descriptor::eQuaternion},
- {constantes::POINT_CLOUD_TAG, type::Descriptor::ePointCloud},
- {constantes::POSITION_TAG, type::Descriptor::ePosition},
- {constantes::ORIENTATION_TAG, type::Descriptor::eOrientation},
- {constantes::POSE_TAG, type::Descriptor::ePose},
- {constantes::IMAGE_TAG, type::Descriptor::eImage},
- {constantes::INT_ENUM_TAG, type::Descriptor::eIntEnum},
- {constantes::INT_TAG, type::Descriptor::eInt},
- {constantes::LONG_TAG, type::Descriptor::eLong},
- {constantes::FLOAT_TAG, type::Descriptor::eFloat},
- {constantes::DOUBLE_TAG, type::Descriptor::eDouble},
- {constantes::STRING_TAG, type::Descriptor::eString},
- {constantes::BOOL_TAG, type::Descriptor::eBool},
- {constantes::TIME_TAG, type::Descriptor::eTime},
- {constantes::ANY_OBJECT_TAG, type::Descriptor::eAnyObject}
+ {constantes::LIST_TAG, type::Descriptor::LIST},
+ {constantes::OBJECT_TAG, type::Descriptor::OBJECT},
+ {constantes::TUPLE_TAG, type::Descriptor::TUPLE},
+ {constantes::PAIR_TAG, type::Descriptor::PAIR},
+ {constantes::DICT_TAG, type::Descriptor::DICT},
+ {constantes::NDARRAY_TAG, type::Descriptor::NDARRAY},
+ {constantes::MATRIX_TAG, type::Descriptor::MATRIX},
+ {constantes::QUATERNION_TAG, type::Descriptor::QUATERNION},
+ {constantes::POINT_CLOUD_TAG, type::Descriptor::POINTCLOUD},
+ {constantes::IMAGE_TAG, type::Descriptor::IMAGE},
+ {constantes::INT_ENUM_TAG, type::Descriptor::INT_ENUM},
+ {constantes::INT_TAG, type::Descriptor::INT},
+ {constantes::LONG_TAG, type::Descriptor::LONG},
+ {constantes::FLOAT_TAG, type::Descriptor::FLOAT},
+ {constantes::DOUBLE_TAG, type::Descriptor::DOUBLE},
+ {constantes::STRING_TAG, type::Descriptor::STRING},
+ {constantes::BOOL_TAG, type::Descriptor::BOOL},
+ {constantes::ANY_OBJECT_TAG, type::Descriptor::ANY_OBJECT}
};
- const std::string tag = simox::alg::to_lower(node.name());
- auto it = String2Descriptor.find(tag);
- auto descriptor = (it == String2Descriptor.end() ? type::Descriptor::eUnknown : it->second);
+ RapidXmlReaderNode nodeToUse = node;
+
+ // check for replacement
+ if (auto it = constantes::REPLACEMENTS.find(simox::alg::to_lower(nodeToUse.name())); it != constantes::REPLACEMENTS.end())
+ {
+ // We make the system believe there is another string in the xml
+ RapidXmlReaderPtr reader = RapidXmlReader::FromXmlString(it->second.first);
+ nodeToUse = reader->getRoot();
+ }
+
+ auto it = String2Descriptor.find(simox::alg::to_lower(nodeToUse.name()));
+ auto descriptor = (it == String2Descriptor.end() ? type::Descriptor::UNKNOWN : it->second);
switch(descriptor)
{
- case type::Descriptor::eList: return createList(node, path);
- case type::Descriptor::eDict: return createDict(node, path);
- case type::Descriptor::eObject: return createObject(node, path);
- case type::Descriptor::eTuple: return createTuple(node, path);
- case type::Descriptor::ePair: return createPair(node, path);
- case type::Descriptor::eNDArray: return createNDArray(node, path);
- case type::Descriptor::eMatrix: return createMatrix(node, path);
- case type::Descriptor::eQuaternion: return createQuaternion(node, path);
- case type::Descriptor::eImage: return createImage(node, path);
- case type::Descriptor::ePointCloud: return createPointCloud(node, path);
- case type::Descriptor::ePosition: return createPosition(node, path);
- case type::Descriptor::eOrientation: return createOrientation(node, path);
- case type::Descriptor::ePose: return createPose(node, path);
- case type::Descriptor::eIntEnum: return createIntEnum(node, path);
- case type::Descriptor::eInt: return createInt(node, path);
- case type::Descriptor::eLong: return createLong(node, path);
- case type::Descriptor::eFloat: return createFloat(node, path);
- case type::Descriptor::eDouble: return createDouble(node, path);
- case type::Descriptor::eString: return createString(node, path);
- case type::Descriptor::eBool: return createBool(node, path);
- case type::Descriptor::eTime: return createTime(node, path);
- case type::Descriptor::eAnyObject: return createAnyObject(node, path);
- default: return findExistingObject(node.name());
+ case type::Descriptor::LIST: return createList(nodeToUse, path);
+ case type::Descriptor::DICT: return createDict(nodeToUse, path);
+ case type::Descriptor::OBJECT: return createObject(nodeToUse, path);
+ case type::Descriptor::TUPLE: return createTuple(nodeToUse, path);
+ case type::Descriptor::PAIR: return createPair(nodeToUse, path);
+ case type::Descriptor::NDARRAY: return createNDArray(nodeToUse, path);
+ case type::Descriptor::MATRIX: return createMatrix(nodeToUse, path);
+ case type::Descriptor::QUATERNION: return createQuaternion(nodeToUse, path);
+ case type::Descriptor::IMAGE: return createImage(nodeToUse, path);
+ case type::Descriptor::POINTCLOUD: return createPointCloud(nodeToUse, path);
+ case type::Descriptor::INT_ENUM: return createIntEnum(nodeToUse, path);
+ case type::Descriptor::INT: return createInt(nodeToUse, path);
+ case type::Descriptor::LONG: return createLong(nodeToUse, path);
+ case type::Descriptor::FLOAT: return createFloat(nodeToUse, path);
+ case type::Descriptor::DOUBLE: return createDouble(nodeToUse, path);
+ case type::Descriptor::STRING: return createString(nodeToUse, path);
+ case type::Descriptor::BOOL: return createBool(nodeToUse, path);
+ case type::Descriptor::ANY_OBJECT: return createAnyObject(nodeToUse, path);
+ case type::Descriptor::UNKNOWN: return findExistingObject(nodeToUse.name(), path);
}
+
+ throw aron::error::AronEOFException(__PRETTY_FUNCTION__);
}
- type::VariantPtr ReaderFactory::findExistingObject(const std::string& name) const
+ type::VariantPtr ReaderFactory::findExistingObject(const std::string& name, const Path& path) const
{
const auto public_intenum_it = allGeneratedPublicIntEnums.find(name);
if (public_intenum_it != allGeneratedPublicIntEnums.end())
{
// copy the navigator
- auto v = type::Variant::FromAronDTO(*public_intenum_it->second.correspondingType->toAronDTO());
+ auto v = type::Variant::FromAronDTO(*public_intenum_it->second.correspondingType->toAronDTO(), path);
return v;
}
@@ -112,24 +113,24 @@ namespace armarx::aron::typereader::xml
if (public_obj_it != allGeneratedPublicObjects.end())
{
// copy the navigator and set instantiation template args
- auto v = type::Variant::FromAronDTO(*public_obj_it->second.correspondingType->toAronDTO());
+ auto v = type::Variant::FromAronDTO(*public_obj_it->second.correspondingType->toAronDTO(), path);
return v;
}
- const auto public_unk_it = std::find(allPreviouslyKnownPublicTypes.begin(), allPreviouslyKnownPublicTypes.end(), name);
- if(public_unk_it != allPreviouslyKnownPublicTypes.end())
+ const auto public_known_it = std::find(allPreviouslyKnownPublicTypes.begin(), allPreviouslyKnownPublicTypes.end(), name);
+ if(public_known_it != allPreviouslyKnownPublicTypes.end())
{
// create an empty navigator
- auto v = std::make_shared<aron::type::Object>(*public_unk_it);
+ auto v = std::make_shared<aron::type::Object>(*public_known_it, std::vector<std::string>(), std::vector<std::string>(), std::map<std::string, type::VariantPtr>(), path);
return v;
}
- // only works during generation process (not for top-level)
- const auto public_priv_it = std::find(allPreviouslyKnownPrivateTypes.begin(), allPreviouslyKnownPrivateTypes.end(), name);
- if(public_priv_it != allPreviouslyKnownPrivateTypes.end())
+ // only works during generation process (not for top-level). Used for templates.
+ const auto private_known_it = std::find(allPreviouslyKnownPrivateTypes.begin(), allPreviouslyKnownPrivateTypes.end(), name);
+ if(private_known_it != allPreviouslyKnownPrivateTypes.end())
{
// create an empty navigator
- auto v = std::make_shared<aron::type::Object>(*public_priv_it);
+ auto v = std::make_shared<aron::type::Object>(*private_known_it, std::vector<std::string>(), std::vector<std::string>(), std::map<std::string, type::VariantPtr>(), path);
return v;
}
@@ -138,23 +139,23 @@ namespace armarx::aron::typereader::xml
type::Maybe ReaderFactory::getMaybe(const RapidXmlReaderNode& n) const
{
- if (util::AttributeIsTrue(n, constantes::OPTIONAL_NAME))
+ if (util::AttributeIsTrue(n, constantes::OPTIONAL_ATTRIBUTE_NAME))
{
- return type::Maybe::eOptional;
+ return type::Maybe::OPTIONAL;
}
- if (util::AttributeIsTrue(n, constantes::RAW_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::RAW_PTR_ATTRIBUTE_NAME))
{
- return type::Maybe::eRawPointer;
+ return type::Maybe::RAW_PTR;
}
- if (util::AttributeIsTrue(n, constantes::SHARED_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::SHARED_PTR_ATTRIBUTE_NAME))
{
- return type::Maybe::eSharedPointer;
+ return type::Maybe::SHARED_PTR;
}
- if (util::AttributeIsTrue(n, constantes::UNIQUE_PTR_NAME))
+ if (util::AttributeIsTrue(n, constantes::UNIQUE_PTR_ATTRIBUTE_NAME))
{
- return type::Maybe::eUniquePointer;
+ return type::Maybe::UNIQUE_PTR;
}
- return type::Maybe::eNone;
+ return type::Maybe::NONE;
}
void ReaderFactory::checkObjectMemberName(const std::string& s) const
@@ -178,20 +179,22 @@ namespace armarx::aron::typereader::xml
}
// ensured we are toplevel!
- util::EnforceAttribute(node, constantes::NAME_ATTRIBUTE_NAME);
- const std::string extends = util::GetAttributeWithDefault(node, constantes::EXTENDS_ATTRIBUTE_NAME, "");
const std::string name = util::GetAttribute(node, constantes::NAME_ATTRIBUTE_NAME);
-
+ const std::string extends = util::GetAttributeWithDefault(node, constantes::EXTENDS_ATTRIBUTE_NAME, "");
auto templates = simox::alg::split(util::GetAttributeWithDefault(node, constantes::TEMPLATE_ATTRIBUTE_NAME, ""), ",");
auto newObjectInfo = typereader::GenerateObjectInfo();
newObjectInfo.typeName = name;
- newObjectInfo.doc_brief = util::GetAttributeWithDefault(node, constantes::DOC_BRIEF_NAME, "");
- newObjectInfo.doc_author = util::GetAttributeWithDefault(node, constantes::DOC_AUTHOR_NAME, "");
+ newObjectInfo.doc_brief = util::GetAttributeWithDefault(node, constantes::DOC_BRIEF_ATTRIBUTE_NAME, "");
+ newObjectInfo.doc_author = util::GetAttributeWithDefault(node, constantes::DOC_AUTHOR_ATTRIBUTE_NAME, "");
// reset private known types
allPreviouslyKnownPrivateTypes = templates;
+ // set objPath
+ aron::Path objPath = path; // copy, just in case there are special things set
+ objPath.setRootIdentifier(name); // set the root identifier to the obj name
+
std::map<std::string, type::VariantPtr> members;
for (const RapidXmlReaderNode& objectChild : node.nodes())
{
@@ -203,17 +206,17 @@ namespace armarx::aron::typereader::xml
checkObjectMemberName(key);
- if (util::HasAttribute(objectChild, constantes::DOC_BRIEF_NAME))
+ if (util::HasAttribute(objectChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME))
{
- newObjectInfo.doc_members.insert({key, util::GetAttribute(objectChild, constantes::DOC_BRIEF_NAME)});
+ newObjectInfo.doc_members.insert({key, util::GetAttribute(objectChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME)});
}
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
auto maybe = getMaybe(children[0]);
- type::VariantPtr childNavigator = create(children[0], path.withElement(key));
+ type::VariantPtr childNavigator = create(children[0], objPath.withElement(key));
- if (childNavigator->getDescriptor() == aron::type::Descriptor::eObject)
+ if (childNavigator->getDescriptor() == aron::type::Descriptor::OBJECT)
{
// check if template args are present
std::vector<std::string> templates = simox::alg::split(util::GetAttributeWithDefault(children[0], constantes::TEMPLATE_ATTRIBUTE_NAME, ""), ",");
@@ -229,11 +232,11 @@ namespace armarx::aron::typereader::xml
}
// set the new object
- auto aronObjectType = std::make_shared<type::Object>(name, templates, std::vector<std::string>(), members, path);
+ auto aronObjectType = std::make_shared<type::Object>(name, templates, std::vector<std::string>(), members, objPath);
if (extends != "")
{
- auto parentObj = type::Object::DynamicCastAndCheck(findExistingObject(extends));
+ auto parentObj = type::Object::DynamicCastAndCheck(findExistingObject(extends, Path()));
aronObjectType->setExtends(parentObj);
}
@@ -316,14 +319,14 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::ndarray::ElementType> String2NDArrayType =
{
- {"int8", type::ndarray::ElementType::int8},
- {"int16", type::ndarray::ElementType::int16},
- {"int32", type::ndarray::ElementType::int32},
- {"uint8", type::ndarray::ElementType::uint8},
- {"uint16", type::ndarray::ElementType::uint16},
- {"uint32", type::ndarray::ElementType::uint32},
- {"float32", type::ndarray::ElementType::float32},
- {"float64", type::ndarray::ElementType::float64}
+ {"int8", type::ndarray::ElementType::INT8},
+ {"int16", type::ndarray::ElementType::INT16},
+ {"int32", type::ndarray::ElementType::INT32},
+ {"uint8", type::ndarray::ElementType::UINT8},
+ {"uint16", type::ndarray::ElementType::UINT16},
+ {"uint32", type::ndarray::ElementType::UINT32},
+ {"float32", type::ndarray::ElementType::FLOAT32},
+ {"float64", type::ndarray::ElementType::FLOAT64}
};
return nullptr;
@@ -333,19 +336,31 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::matrix::ElementType> String2MatrixType =
{
- {"int16", type::matrix::ElementType::int16},
- {"int32", type::matrix::ElementType::int32},
- {"int64", type::matrix::ElementType::int64},
- {"float32", type::matrix::ElementType::float32},
- {"float64", type::matrix::ElementType::float64}
+ {"int16", type::matrix::ElementType::INT16},
+ {"int32", type::matrix::ElementType::INT32},
+ {"int64", type::matrix::ElementType::INT64},
+ {"float32", type::matrix::ElementType::FLOAT32},
+ {"float64", type::matrix::ElementType::FLOAT64}
};
auto o = std::make_shared<type::Matrix>(path);
util::EnforceChildSize(node, 0);
util::EnforceAttribute(node, constantes::TYPE_ATTRIBUTE_NAME);
- const int rows = std::stoi(util::GetAttributeWithDefault(node, constantes::ROWS_ATTRIBUTE_NAME, "4"));
- const int cols = std::stoi(util::GetAttributeWithDefault(node, constantes::COLS_ATTRIBUTE_NAME, "4"));
+ auto rows_str = util::GetAttributeWithDefault(node, constantes::ROWS_ATTRIBUTE_NAME, "4");
+ auto cols_str = util::GetAttributeWithDefault(node, constantes::COLS_ATTRIBUTE_NAME, "4");
+
+ if (std::find(constantes::WHATEVER_VALUES.begin(), constantes::WHATEVER_VALUES.end(), simox::alg::to_lower(rows_str)) != constantes::WHATEVER_VALUES.end())
+ {
+ rows_str = "-1";
+ }
+ if (std::find(constantes::WHATEVER_VALUES.begin(), constantes::WHATEVER_VALUES.end(), simox::alg::to_lower(cols_str)) != constantes::WHATEVER_VALUES.end())
+ {
+ cols_str = "-1";
+ }
+
+ const int rows = std::stoi(rows_str);
+ const int cols = std::stoi(cols_str);
std::string type = util::GetAttributeWithDefault(node, constantes::TYPE_ATTRIBUTE_NAME, "???");
o->setRows(rows);
@@ -365,8 +380,8 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::quaternion::ElementType> String2QuaternionType =
{
- {"float32", type::quaternion::ElementType::float32},
- {"float64", type::quaternion::ElementType::float64}
+ {"float32", type::quaternion::ElementType::FLOAT32},
+ {"float64", type::quaternion::ElementType::FLOAT64}
};
auto o = std::make_shared<type::Quaternion>(path);
@@ -391,8 +406,8 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::image::PixelType> String2PixelType =
{
- {"rgb24", type::image::PixelType::rgb24},
- {"depth32", type::image::PixelType::depth32}
+ {"rgb24", type::image::PixelType::RGB24},
+ {"depth32", type::image::PixelType::DEPTH32}
};
auto o = std::make_shared<type::Image>(path);
@@ -416,13 +431,13 @@ namespace armarx::aron::typereader::xml
{
static const std::map<std::string, type::pointcloud::VoxelType> String2VoxelType =
{
- {"pointxyz", type::pointcloud::VoxelType::PointXYZ},
- {"pointxyzi", type::pointcloud::VoxelType::PointXYZI},
- {"pointxyzl", type::pointcloud::VoxelType::PointXYZL},
- {"pointxyzrgb", type::pointcloud::VoxelType::PointXYZRGB},
- {"pointxyzrgbl", type::pointcloud::VoxelType::PointXYZRGBL},
- {"pointxyzrgba", type::pointcloud::VoxelType::PointXYZRGBA},
- {"pointxyzhsv", type::pointcloud::VoxelType::PointXYZHSV}
+ {"pointxyz", type::pointcloud::VoxelType::POINT_XYZ},
+ {"pointxyzi", type::pointcloud::VoxelType::POINT_XYZI},
+ {"pointxyzl", type::pointcloud::VoxelType::POINT_XYZL},
+ {"pointxyzrgb", type::pointcloud::VoxelType::POINT_XYZRGB},
+ {"pointxyzrgbl", type::pointcloud::VoxelType::POINT_XYZRGBL},
+ {"pointxyzrgba", type::pointcloud::VoxelType::POINT_XYZRGBA},
+ {"pointxyzhsv", type::pointcloud::VoxelType::POINT_XYZHSV}
};
auto o = std::make_shared<type::PointCloud>(path);
@@ -441,30 +456,6 @@ namespace armarx::aron::typereader::xml
return o;
}
- type::VariantPtr ReaderFactory::createPosition(const RapidXmlReaderNode &node, const Path &path) const
- {
- auto o = std::make_shared<type::Position>(path);
- util::EnforceChildSize(node, 0);
-
- return o;
- }
-
- type::VariantPtr ReaderFactory::createOrientation(const RapidXmlReaderNode &node, const Path &path) const
- {
- auto o = std::make_shared<type::Orientation>(path);
- util::EnforceChildSize(node, 0);
-
- return o;
- }
-
- type::VariantPtr ReaderFactory::createPose(const RapidXmlReaderNode& node, const Path& path) const
- {
- auto o = std::make_shared<type::Pose>(path);
- util::EnforceChildSize(node, 0);
-
- return o;
- }
-
type::VariantPtr ReaderFactory::createIntEnum(const RapidXmlReaderNode& node, const Path& path)
{
if (path.hasElement())
@@ -488,16 +479,20 @@ namespace armarx::aron::typereader::xml
const std::string key = util::GetAttribute(valueChild, constantes::KEY_ATTRIBUTE_NAME);
- if (util::HasAttribute(valueChild, constantes::DOC_BRIEF_NAME))
+ if (util::HasAttribute(valueChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME))
{
- newEnumInfo.doc_values.insert({key, util::GetAttribute(valueChild, constantes::DOC_BRIEF_NAME)});
+ newEnumInfo.doc_values.insert({key, util::GetAttribute(valueChild, constantes::DOC_BRIEF_ATTRIBUTE_NAME)});
}
const std::string value = util::GetAttribute(valueChild, constantes::VALUE_ATTRIBUTE_NAME);
acceptedValues.emplace(key, std::stoi(value));
}
- auto o = std::make_shared<type::IntEnum>(name, acceptedValues, path);
+
+ // create the int enum
+ aron::Path enumPath = path; // copy, just in case there are special things set
+ enumPath.setRootIdentifier(name); // set the root identifier to the obj name
+ auto o = std::make_shared<type::IntEnum>(name, acceptedValues, enumPath);
newEnumInfo.correspondingType = o;
allGeneratedPublicIntEnums.emplace(newEnumInfo.typeName, newEnumInfo);
@@ -536,11 +531,6 @@ namespace armarx::aron::typereader::xml
return std::make_shared<type::Bool>(path);
}
- type::VariantPtr ReaderFactory::createTime(const RapidXmlReaderNode &node, const Path &path) const
- {
- return std::make_shared<type::Time>(path);
- }
-
type::VariantPtr ReaderFactory::createAnyObject(const RapidXmlReaderNode& node, const Path& path) const
{
return std::make_shared<type::AnyObject>(path);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
similarity index 94%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
index a15c84116da8a8390f83f8d44c3492cb5a50ac49..4771cdb4bad5bee3862f098538e7ca2111a2fd85 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h
@@ -31,8 +31,8 @@
// ArmarX
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateTypeInfo.h>
-#include <RobotAPI/libraries/aron/core/typereader/helper/GenerateIntEnumInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/helper/GenerateIntEnumInfo.h>
#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
@@ -52,7 +52,7 @@ namespace armarx::aron::typereader::xml
private:
/// check, whether a given name corresponds to an already created object name.
- type::VariantPtr findExistingObject(const std::string& n) const;
+ type::VariantPtr findExistingObject(const std::string& n, const Path& path) const;
/// check, if the type should be a maybe type
type::Maybe getMaybe(const RapidXmlReaderNode&) const;
@@ -83,7 +83,6 @@ namespace armarx::aron::typereader::xml
type::VariantPtr createDouble(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createString(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createBool(const RapidXmlReaderNode& node, const Path& path) const;
- type::VariantPtr createTime(const RapidXmlReaderNode& node, const Path& path) const;
type::VariantPtr createAnyObject(const RapidXmlReaderNode& node, const Path& path) const;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f820853e4959b6a00dde34e5e8e816125c58a700
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
@@ -0,0 +1,387 @@
+/*
+ * 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
+ */
+
+// STD/STL
+
+
+// Header
+#include "Reader.h"
+#include <sstream>
+
+// Simox
+#include <SimoxUtility/algorithm/vector.hpp>
+
+// ArmarX
+#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h>
+#include <RobotAPI/libraries/aron/core/type/variant/Factory.h>
+
+
+namespace armarx::aron::typereader::xml
+{
+ namespace fs = std::filesystem;
+
+ namespace
+ {
+ /// Resolve a relative package path
+ std::optional<fs::path> resolveRelativePackagePath(const fs::path& path, const std::vector<fs::path>& includePaths)
+ {
+ // new behavior: using provided include paths
+ for (const auto& includePath : includePaths)
+ {
+ fs::path absPath = includePath / path;
+ if (fs::is_regular_file(absPath))
+ {
+ // path is valid
+ return absPath;
+ }
+ }
+
+ // legacy behavior: using cmake package finder paths
+ const std::string package = *path.begin();
+ armarx::CMakePackageFinder finder(package);
+ if (finder.packageFound())
+ {
+ for (const std::string& includePath : finder.getIncludePathList())
+ {
+ fs::path absPath = includePath / path;
+ if (fs::is_regular_file(absPath))
+ {
+ // path is valid
+ return absPath;
+ }
+ }
+ return std::nullopt;
+ }
+
+ return std::nullopt;
+ }
+ }
+
+ void Reader::parseFile(const std::string& _filename, const std::vector<std::filesystem::path>& includePaths)
+ {
+ std::string filename = _filename;
+
+ // Handle C++ style includes like "<path/to/file>".
+ if (!filename.empty() && filename.front() == '<' && filename.back() == '>')
+ {
+ filename = filename.substr(1, filename.size() - 2);
+ }
+ parseFile(std::filesystem::path(filename), includePaths);
+ }
+
+ void Reader::parseFile(const std::filesystem::path& _file, const std::vector<std::filesystem::path>& includePaths)
+ {
+ fs::path file = _file;
+ if (not std::filesystem::exists(file))
+ {
+ // check if file is package path
+ auto p = resolveRelativePackagePath(file, includePaths);
+ if (not p)
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Could not find the file " + file.string() + ". Tried include paths: " + simox::alg::to_string(includePaths));
+ }
+ file = *p;
+ }
+
+ RapidXmlReaderPtr reader = RapidXmlReader::FromFile(file.string());
+ parse(reader, file, includePaths);
+ }
+
+ // private method reading nodes
+ void Reader::parse(const RapidXmlReaderPtr& reader, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
+ {
+ RapidXmlReaderNode root = reader->getRoot();
+
+ // Check Header
+ util::EnforceTagName(root, constantes::TYPE_DEFINITION_TAG);
+
+ util::EnforceChildSizeSmallerEqual(root, 4);
+
+ auto includes = util::GetFirstNodeWithTag(root, constantes::INCLUDES_TAG);
+ auto generate_types = util::GetFirstNodeWithTag(root, constantes::GENERATE_TYPES_TAG);
+
+ // 1. Check code includes
+ auto codeincludes = util::GetFirstNodeWithTag(root, constantes::CODE_INCLUDES_TAG);
+ auto aronincludes = util::GetFirstNodeWithTag(root, constantes::ARON_INCLUDES_TAG);
+ if (codeincludes.has_value())
+ {
+ for (const auto& include : (*codeincludes).nodes())
+ {
+ auto i = readCodeInclude(include, filePath.parent_path(), includePaths);
+ if (not i.empty()) this->systemIncludes.push_back(i);
+ }
+ }
+
+ // 2. Check aron includes
+ if (aronincludes.has_value())
+ {
+ for (const auto& include : (*aronincludes).nodes())
+ {
+ auto i = readAronInclude(include, filePath.parent_path(), includePaths);
+ if (not i.empty()) this->aronIncludes.push_back(i);
+ }
+ }
+
+ // 3. Check general includes and try to deduce info
+ if (includes.has_value())
+ {
+ for (const auto& include : (*includes).nodes())
+ {
+ if (util::HasTagName(include, constantes::SYSTEM_INCLUDE_TAG)) // if its a system include tag then we know that it must be a code include
+ {
+ auto i = readCodeInclude(include, filePath.parent_path(), includePaths);
+ if (not i.empty()) this->systemIncludes.push_back(i);
+ }
+ else
+ {
+ // case that the file can be either an aron or code file. We need to deduce the type based on the given information
+ std::string what = "";
+
+ if (util::HasTagName(include, constantes::PACKAGE_PATH_TAG)) // can be both
+ {
+ what = util::GetAttribute(include, constantes::PATH_ATTRIBUTE_NAME);
+ }
+
+ if (util::HasTagName(include, constantes::INCLUDE_TAG)) // can be both
+ {
+ what = util::GetAttribute(include, constantes::INCLUDE_ATTRIBUTE_NAME);
+ }
+
+ if (not what.empty() && std::filesystem::path(what) != filePath) // did we found something?
+ {
+ if (what.ends_with(ARON_FILE_SUFFIX))
+ {
+ auto i = readAronInclude(include, filePath.parent_path(), includePaths);
+ if (not i.empty()) this->aronIncludes.push_back(i);
+ }
+ else // we believe that this is a code include since it is not an xml file
+ {
+ auto i = readCodeInclude(include, filePath.parent_path(), includePaths);
+ if (not i.empty()) this->systemIncludes.push_back(i);
+ }
+ }
+ }
+ }
+ }
+
+ // 2. Check used tags of GenerateTypes for special defaulted includes
+ if (generate_types.has_value())
+ {
+ for (const auto& generateType : (*generate_types).nodes())
+ {
+ if (util::HasTagName(generateType, constantes::OBJECT_TAG))
+ {
+ for (const auto& additionalInclude : getAdditionalIncludesFromReplacements(generateType, filePath.parent_path()))
+ {
+ RapidXmlReaderPtr reader = RapidXmlReader::FromXmlString("<PackagePath package=\""+additionalInclude.first+"\" path=\""+additionalInclude.second+"\"/>");
+ auto node = reader->getRoot();
+
+ auto i = this->readAronInclude(node, filePath, includePaths);
+ if (not i.empty() && std::find(this->aronIncludes.begin(), this->aronIncludes.end(), i) == this->aronIncludes.end())
+ {
+ this->aronIncludes.push_back(i);
+ }
+ }
+ }
+ }
+ }
+
+ // 3. Check GenerateTypes
+ if (generate_types.has_value())
+ {
+ for (const auto& generateType : (*generate_types).nodes())
+ {
+ if (util::HasTagName(generateType, constantes::OBJECT_TAG))
+ {
+ const auto nav = readGenerateObject(generateType);
+ generateObjects.push_back(factory.allGeneratedPublicObjects.at(nav->getObjectName()));
+ continue;
+ }
+
+ if (util::HasTagName(generateType, constantes::INT_ENUM_TAG))
+ {
+ const auto nav = readGenerateIntEnum(generateType);
+ generateIntEnums.push_back(factory.allGeneratedPublicIntEnums.at(nav->getEnumName()));
+ continue;
+ }
+ throw error::ValueNotValidException("XMLReader", "parse", "Could not find a valid tag inside generatetypes", generateType.name());
+ }
+ }
+ else
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "No generate types found in aron xml '" + filePath.string() + "'.");
+ }
+ }
+
+ std::pair<std::string, std::string> Reader::readPackagePathInclude(const RapidXmlReaderNode& node, const std::filesystem::path&, const std::vector<std::filesystem::path>& includePaths)
+ {
+ util::EnforceTagName(node, constantes::PACKAGE_PATH_TAG);
+ std::string package = util::GetAttribute(node, constantes::PACKAGE_ATTRIBUTE_NAME);
+ std::string path = util::GetAttribute(node, constantes::PATH_ATTRIBUTE_NAME);
+ util::EnforceChildSize(node, 0);
+
+ package = simox::alg::replace_all(package, "<", "");
+ package = simox::alg::replace_all(package, ">", "");
+ path = simox::alg::replace_all(path, "<", "");
+ path = simox::alg::replace_all(path, ">", "");
+
+ const std::filesystem::path includepath(package + "/" + path);
+ if (std::optional<fs::path> resolvedPackagePath = resolveRelativePackagePath(includepath, includePaths); resolvedPackagePath.has_value())
+ {
+ return {package + "/" + path, "<" + package + "/" + path + ">"};
+ }
+
+ throw error::AronException(__PRETTY_FUNCTION__, "Could not find an file `" + includepath.string() + "`. Search paths are: " + simox::alg::to_string(includePaths));
+ }
+
+ std::pair<std::string, std::string> Reader::readInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filepath, const std::vector<std::filesystem::path>& includePaths)
+ {
+ util::EnforceTagName(node, constantes::INCLUDE_TAG);
+ std::string value = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
+ util::EnforceChildSize(node, 0);
+
+ value = simox::alg::replace_all(value, "<", "");
+ value = simox::alg::replace_all(value, ">", "");
+
+ return {value, "<" + value + ">"};
+ }
+
+ std::pair<std::string, std::string> Reader::readSystemInclude(const RapidXmlReaderNode& node, const std::filesystem::path&, const std::vector<std::filesystem::path>& includePaths)
+ {
+ util::EnforceTagName(node, constantes::SYSTEM_INCLUDE_TAG);
+ std::string value = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
+ util::EnforceChildSize(node, 0);
+
+ value = simox::alg::replace_all(value, "<", "");
+ value = simox::alg::replace_all(value, ">", "");
+
+ return {"", "<" + value + ">"};
+ }
+
+ std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filepath, const std::vector<std::filesystem::path>& includePaths)
+ {
+ if (util::HasTagName(node, constantes::PACKAGE_PATH_TAG))
+ {
+ return readPackagePathInclude(node, filepath, includePaths).second;
+ }
+ if (util::HasTagName(node, constantes::INCLUDE_TAG))
+ {
+ return readInclude(node, filepath, includePaths).second;
+ }
+ if (util::HasTagName(node, constantes::SYSTEM_INCLUDE_TAG))
+ {
+ return readSystemInclude(node, filepath, includePaths).second;
+ }
+
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Could not parse a code include. The tag is wrong.", node.name());
+ }
+
+ std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filepath, const std::vector<std::filesystem::path>& includePaths)
+ {
+ std::string include;
+ std::string include_unescaped;
+ if (util::HasTagName(node, constantes::PACKAGE_PATH_TAG))
+ {
+ auto p = readPackagePathInclude(node, filepath, includePaths);
+ include_unescaped = p.first;
+ include = p.second;
+ }
+ if (util::HasTagName(node, constantes::INCLUDE_TAG))
+ {
+ auto p = readInclude(node, filepath, includePaths);
+ include_unescaped = p.first;
+ include = p.second;
+ }
+
+ if (not include.empty()) // we found something
+ {
+ // autoinclude the code file (suffix will be replaced by correct language)
+ std::string codeinclude = simox::alg::replace_last(include, ARON_FILE_SUFFIX, CODE_FILE_SUFFIX);
+ this->systemIncludes.push_back(codeinclude);
+
+ // parse parent xml file and add objects to alreday known
+ Reader anotherReader;
+ anotherReader.parseFile(include_unescaped, includePaths);
+ for (const auto& previouslyKnown : anotherReader.factory.allPreviouslyKnownPublicTypes)
+ {
+ factory.allPreviouslyKnownPublicTypes.push_back(previouslyKnown);
+ }
+ for (const auto& knownObjectInfo : anotherReader.factory.allGeneratedPublicObjects)
+ {
+ factory.allPreviouslyKnownPublicTypes.push_back(knownObjectInfo.first);
+ }
+ for (const auto& knownIntEnumInfo : anotherReader.factory.allGeneratedPublicIntEnums)
+ {
+ factory.allPreviouslyKnownPublicTypes.push_back(knownIntEnumInfo.first);
+ }
+
+ return include;
+ }
+
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Could not parse an aron include. The tag is wrong.", node.name());
+ }
+
+ std::vector<std::pair<std::string, std::string>> Reader::getAdditionalIncludesFromReplacements(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ {
+ std::vector<std::pair<std::string, std::string>> ret;
+ for (const auto& repl : constantes::REPLACEMENTS)
+ {
+ if (not repl.second.second.first.empty() && not repl.second.second.second.empty() && util::HasTagName(node, repl.first))
+ {
+ // we found a string that will be replaced so we might need to add a default include
+ ret.push_back(repl.second.second);
+ break;
+ }
+ }
+
+ if (not ret.empty()) // children are not allowed for dto replaced nodes!
+ {
+ util::EnforceChildSize(node, 0);
+ }
+
+ for (const auto& n : node.nodes()) // only valid if ret is empty
+ {
+ auto v = getAdditionalIncludesFromReplacements(n, filePath);
+ ret = simox::alg::appended(ret, v);
+ }
+
+ return ret;
+ }
+
+ type::ObjectPtr Reader::readGenerateObject(const RapidXmlReaderNode& node)
+ {
+ util::EnforceTagName(node, constantes::OBJECT_TAG);
+ return type::Object::DynamicCastAndCheck(factory.create(node, Path()));
+ }
+
+ type::IntEnumPtr Reader::readGenerateIntEnum(const RapidXmlReaderNode& node)
+ {
+ util::EnforceTagName(node, constantes::INT_ENUM_TAG);
+ return type::IntEnum::DynamicCastAndCheck(factory.create(node, Path()));
+ }
+}
+
+
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
similarity index 64%
rename from source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
rename to source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
index 4d649256b6706897bc9a632f7069648a44639a94..4cc71341c5f5791175c44f9785e7a54c7c699631 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.h
@@ -30,14 +30,14 @@
// Base Class
-#include <RobotAPI/libraries/aron/core/typereader/Reader.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/Reader.h>
// ArmarX
#include <SimoxUtility/xml.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
-#include <RobotAPI/libraries/aron/core/typereader/xml/Factory.h>
+#include <RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.h>
namespace armarx::aron::typereader::xml
{
@@ -56,12 +56,25 @@ namespace armarx::aron::typereader::xml
private:
void parse(const RapidXmlReaderPtr& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
- std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
- std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
+ // replacement management
+ std::vector<std::pair<std::string, std::string>> getAdditionalIncludesFromReplacements(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+ // parse includes
+ std::pair<std::string, std::string> readPackagePathInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filename, const std::vector<std::filesystem::path>& includePaths);
+ std::pair<std::string, std::string> readInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filename, const std::vector<std::filesystem::path>& includePaths);
+ std::pair<std::string, std::string> readSystemInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filename, const std::vector<std::filesystem::path>& includePaths);
+
+ std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filename, const std::vector<std::filesystem::path>& includePaths);
+ std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filename, const std::vector<std::filesystem::path>& includePaths);
+
+ // parse top-level objects
type::ObjectPtr readGenerateObject(const RapidXmlReaderNode& node);
type::IntEnumPtr readGenerateIntEnum(const RapidXmlReaderNode& node);
+ public:
+ static const constexpr char* CODE_FILE_SUFFIX = ".aron.generated.codesuffix";
+ static const constexpr char* ARON_FILE_SUFFIX = ".xml";
+
private:
ReaderFactory factory;
};
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h b/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h
deleted file mode 100644
index 8783ca562067e030d0650615c7716722fd734acf..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/AronCodeGenerator.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-* 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/>.
-*
-* @author Fabian Peller (fabian dot peller at kit dot edu)
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#pragma once
-
-// STD/STL
-#include <memory>
-#include <string>
-
-// ArmarX
-#include <RobotAPI/interface/aron.h>
-
-
-namespace armarx
-{
- namespace aron
- {
- namespace codegenerator::cpp
- {
- /* This is just a dummy class to create a target which depends on the aron code generator executable. */
- class AronCodeGenerator;
- typedef std::shared_ptr<AronCodeGenerator> AronCodeGeneratorPtr;
-
- class AronCodeGenerator
- {
- public:
- AronCodeGenerator() = default;
-
- private:
- };
- }
- }
-}
diff --git a/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt
deleted file mode 100644
index 588385597cf7ec6ad369bf32a301bd39c4a6a483..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/codegenerationhelper/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-set(LIB_NAME aroncodegeneration)
-
-armarx_component_set_name("${LIB_NAME}")
-armarx_set_target("Library: ${LIB_NAME}")
-
-
-set(LIBS
- aron
-)
-
-set(LIB_FILES
- AronCodeGenerator.cpp
-)
-
-set(LIB_HEADERS
- AronCodeGenerator.h
-)
-
-armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
-#add_dependencies("${LIB_NAME}" AronCodeGeneratorAppRun)
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index aa0a2ea82a6304a4afb3a5bc1b34c3f820b53577..8dc8e85556003093661f8adc0e4352ed5f660726 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -9,6 +9,7 @@ armarx_add_library(
# ArmarXCore
ArmarXCore
# RobotAPI
+ RobotAPICore
aron
HEADERS
@@ -17,25 +18,37 @@ armarx_add_library(
json_conversions.h
aron_conversions/core.h
+ aron_conversions/stl.h
+ aron_conversions/packagepath.h
+ aron_conversions/framed.h
+ aron_conversions/time.h
aron_conversions/armarx.h
aron_conversions/simox.h
- aron_conversions/stl.h
aron_conversions/eigen.h
json_conversions/armarx.h
+ rw/time.h
+ rw/framed.h
+
util/object_finders.h
SOURCES
aron_conversions/core.cpp
+ aron_conversions/stl.cpp
+ aron_conversions/packagepath.cpp
+ aron_conversions/framed.cpp
+ aron_conversions/time.cpp
aron_conversions/armarx.cpp
aron_conversions/simox.cpp
- aron_conversions/stl.cpp
aron_conversions/eigen.cpp
json_conversions/armarx.cpp
+ rw/time.cpp
+ rw/framed.cpp
+
util/object_finders.cpp
)
diff --git a/source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml b/source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml
index 4001f42e7c5f6530ea24ad563446f5318535ec0f..1c4dcd18d6a629d7dd023c697cc87c9d2268c60a 100644
--- a/source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml
@@ -4,8 +4,9 @@ The ARON DTO of simox::AxisAlignedBoundingBox.
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
+ <SystemInclude include="Eigen/Core" />
</CodeIncludes>
+
<GenerateTypes>
<Object name="simox::arondto::AxisAlignedBoundingBox">
diff --git a/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml b/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
index c7527c2cfc3e862f45bf5f69a039b27c96eb5d50..ac8b68bf36ca9e14ae5c9d22802823892a2de76a 100644
--- a/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
@@ -3,10 +3,12 @@ The ARON DTO of simox::OrientedBoxf.
-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+
<CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<Eigen/Geometry>" />
+ <SystemInclude include="Eigen/Core" />
+ <SystemInclude include="Eigen/Geometry" />
</CodeIncludes>
+
<GenerateTypes>
<Object name="simox::arondto::OrientedBox">
diff --git a/source/RobotAPI/libraries/aron/common/aron/framed.xml b/source/RobotAPI/libraries/aron/common/aron/framed.xml
index 2e2e6d45f95defa21e39670d5957dba539d63972..1fb5025dfd26637f542f05606bbe41777fc0a903 100644
--- a/source/RobotAPI/libraries/aron/common/aron/framed.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/framed.xml
@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Geometry>" />
- </CodeIncludes>
+ <Includes>
+ <SystemInclude include="Eigen/Geometry" />
+ </Includes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions.h b/source/RobotAPI/libraries/aron/common/aron_conversions.h
index b771ef362aaf0a886aaabcc19027e74a9dfbeb9b..84804124d7e82a042e89eb5720400e991fc8139d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions.h
@@ -1,8 +1,5 @@
#pragma once
-#include "aron_conversions/core.h"
-
#include "aron_conversions/armarx.h"
#include "aron_conversions/simox.h"
-#include "aron_conversions/stl.h"
#include "aron_conversions/eigen.h"
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index beb2f7a552e27e239c9f3b4514cfa4170bd6828a..2604d107087ce329285320e48d66e3ceab97d75d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -1,128 +1,2 @@
#include "armarx.h"
-#include <IceUtil/Time.h>
-
-#include <ArmarXCore/core/time/ice_conversions.h>
-
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-
-
-void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
-{
- bo = IceUtil::Time::microSeconds(dto);
-}
-
-void IceUtil::toAron(long& dto, const IceUtil::Time& bo)
-{
- dto = bo.toMicroSeconds();
-}
-
-
-void IceUtil::fromAron(const IceUtil::Time& dto, armarx::DateTime& bo)
-{
- fromIce(dto, bo);
-}
-
-void IceUtil::toAron(IceUtil::Time& dto, const armarx::DateTime& bo)
-{
- toIce(dto, bo);
-}
-
-
-/* PackagePath */
-
-void armarx::fromAron(const arondto::PackagePath& dto, PackagePath& bo)
-{
- bo = {dto.package, dto.path};
-}
-
-void armarx::toAron(arondto::PackagePath& dto, const PackagePath& bo)
-{
- const data::PackagePath icedto = bo.serialize();
- dto.package = icedto.package;
- dto.path = icedto.path;
-}
-
-
-void armarx::fromAron(const arondto::ClockType& dto, ClockType& bo)
-{
- switch (dto.value)
- {
- case arondto::ClockType::Realtime:
- bo = ClockType::Realtime;
- break;
- case arondto::ClockType::Monotonic:
- bo = ClockType::Monotonic;
- break;
- case arondto::ClockType::Virtual:
- bo = ClockType::Virtual;
- break;
- case arondto::ClockType::Unknown:
- bo = ClockType::Unknown;
- break;
- }
-}
-
-void armarx::toAron(arondto::ClockType& dto, const ClockType& bo)
-{
- switch (bo)
- {
- case ClockType::Realtime:
- dto = arondto::ClockType::Realtime;
- break;
- case ClockType::Monotonic:
- dto = arondto::ClockType::Monotonic;
- break;
- case ClockType::Virtual:
- dto = arondto::ClockType::Virtual;
- break;
- case ClockType::Unknown:
- dto = arondto::ClockType::Unknown;
- break;
- }
-}
-
-void armarx::fromAron(const arondto::Duration& dto, Duration& bo)
-{
- bo = Duration::MicroSeconds(dto.microSeconds);
-}
-
-void armarx::toAron(arondto::Duration& dto, const Duration& bo)
-{
- dto.microSeconds = bo.toMicroSeconds();
-}
-
-void armarx::fromAron(const arondto::Frequency& dto, Frequency& bo)
-{
- Duration cycleDuration;
- fromAron(dto.cycleDuration, cycleDuration);
- bo = Frequency(cycleDuration);
-}
-
-void armarx::toAron(arondto::Frequency& dto, const Frequency& bo)
-{
- arondto::Duration cycleDuration;
- toAron(cycleDuration, bo.toCycleDuration());
- dto.cycleDuration = cycleDuration;
-}
-
-void armarx::fromAron(const arondto::DateTime& dto, DateTime& bo)
-{
- Duration timeSinceEpoch;
- fromAron(dto.timeSinceEpoch, timeSinceEpoch);
- ClockType clockType;
- fromAron(dto.clockType, clockType);
- bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
-}
-
-void armarx::toAron(arondto::DateTime& dto, const DateTime& bo)
-{
- arondto::Duration timeSinceEpoch;
- toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
- dto.timeSinceEpoch = timeSinceEpoch;
- arondto::ClockType clockType;
- toAron(clockType, bo.clockType());
- dto.clockType = clockType;
- dto.hostname = bo.hostname();
-}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
index 807605ec099b5e41110992d28c23bcecb0b92be0..d12c47afe385fee4a2665a744915d9aa44f94466 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -1,39 +1,11 @@
#pragma once
-#include <ArmarXCore/core/PackagePath.h>
-#include <ArmarXCore/core/time_minimal.h>
+#include "packagepath.h"
+#include "framed.h"
+#include "time.h"
-#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
-
-namespace IceUtil
-{
- class Time;
-
- void fromAron(const long& dto, IceUtil::Time& bo);
- void toAron(long& dto, const IceUtil::Time& bo);
-
- void fromAron(const IceUtil::Time& dto, armarx::DateTime& bo);
- void toAron(IceUtil::Time& dto, const armarx::DateTime& bo);
-}
namespace armarx
{
- void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
- void toAron(arondto::PackagePath& dto, const PackagePath& bo);
-
- void fromAron(const arondto::ClockType& dto, ClockType& bo);
- void toAron(arondto::ClockType& dto, const ClockType& bo);
-
- void fromAron(const arondto::Duration& dto, Duration& bo);
- void toAron(arondto::Duration& dto, const Duration& bo);
-
- void fromAron(const arondto::Frequency& dto, Frequency& bo);
- void toAron(arondto::Frequency& dto, const Frequency& bo);
-
- void fromAron(const arondto::DateTime& dto, DateTime& bo);
- void toAron(arondto::DateTime& dto, const DateTime& bo);
-
} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
index 790714d9c04f963f91a7492b396f95b32f684754..44426a551737ca024787310fbd45bfe50675181d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/core.cpp
@@ -1,2 +1 @@
#include "core.h"
-
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/core.h b/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
index bcc537a288613e28f4441477654a8466bac56d7d..af62fb4fa63d02203535faf58d1b8fab8053ab72 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/core.h
@@ -1,81 +1,12 @@
#pragma once
+// This file is just a legacy include file.
+// We moved the stl and core conversions to the aron library.
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
-namespace armarx::aron
+namespace armarx
{
- /**
- * Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs
- * (Business Objects) and back.
- *
- * To allow conversion between custom ARON and C++ types, declare two
- * functions in the namespace of the BO:
- *
- * @code
- * // aron_conversions.h
- *
- * namespace bo_namespace
- * {
- * void toAron(arondto::MyObject& dto, const MyObject& bo);
- * void fromAron(const arondto::MyObject& dto, MyObject& bo);
- * }
- * @endcode
- *
- * Note that the DTO always comes first, and the target object is
- * non-const.
- *
- * In the implementation,
- *
- *
- * @code
- * // aron_conversions.cpp
- *
- * #include "aron_conversions.h"
- * #include <Path/to/MyValue/aron_conversions.h>
- *
- * void bo_namespace::toAron(arondto::MyObject& dto, const MyObject& bo)
- * {
- * dto.name = bo.name;
- * toAron(dto.myValue, bo.myValue);
- * }
- *
- * void bo_namespace::fromAron(const arondto::MyObject& dto, MyObject& bo)
- * {
- * bo.name = dto.name;
- * fromAron(dto.myValue, bo.myValue);
- * }
- * @endcode
- */
- // Same type
- template <class T>
- void toAron(T& dto, const T& bo)
- {
- dto = bo;
- }
- template <class T>
- void fromAron(const T& dto, T& bo)
- {
- bo = dto;
- }
-
-
- // Generic return version
-
- template <class DtoT, class BoT>
- DtoT toAron(const BoT& bo)
- {
- DtoT dto;
- toAron(dto, bo);
- return dto;
- }
- template <class BoT, class DtoT>
- BoT fromAron(const DtoT& dto)
- {
- BoT bo;
- fromAron(dto, bo);
- return bo;
- }
-
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3ace8f400192823bd7c59cce605ef50e77dfdbff..e60f080c8a5defcb98268379d3df37bb40cb1a73 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -2,6 +2,8 @@
#include <Eigen/Geometry>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
namespace armarx::aron
{
using AronPose = Eigen::Matrix<float, 4, 4>;
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..857c3a46b65fce9c001520b39a90130ac892a76d
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.cpp
@@ -0,0 +1,76 @@
+#include "framed.h"
+
+#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace armarx
+{
+ void fromAron(const arondto::FramedPosition& dto, armarx::FramedPosition& bo)
+ {
+ bo.frame = dto.header.frame;
+ bo.agent = dto.header.agent;
+ bo.x = dto.position.x();
+ bo.y = dto.position.y();
+ bo.z = dto.position.z();
+ }
+
+ void toAron(arondto::FramedPosition& dto, const armarx::FramedPosition& bo)
+ {
+ dto.header.frame = bo.frame;
+ dto.header.agent = bo.agent;
+ dto.position.x() = bo.x;
+ dto.position.y() = bo.y;
+ dto.position.z() = bo.z;
+ }
+
+ void fromAron(const arondto::FramedOrientation& dto, armarx::FramedOrientation& bo)
+ {
+ bo.frame = dto.header.frame;
+ bo.agent = dto.header.agent;
+ bo.qw = dto.orientation.w();
+ bo.qx = dto.orientation.x();
+ bo.qy = dto.orientation.y();
+ bo.qz = dto.orientation.z();
+ }
+
+ void toAron(arondto::FramedOrientation& dto, const armarx::FramedOrientation& bo)
+ {
+ dto.header.frame = bo.frame;
+ dto.header.agent = bo.agent;
+ dto.orientation.w() = bo.qw;
+ dto.orientation.x() = bo.qx;
+ dto.orientation.y() = bo.qy;
+ dto.orientation.z() = bo.qz;
+ }
+
+ void fromAron(const arondto::FramedPose& dto, armarx::FramedPose& bo)
+ {
+ bo.frame = dto.header.frame;
+ bo.agent = dto.header.agent;
+ auto vec = Eigen::Vector3f(dto.pose.block<3,1>(0,3));
+ bo.position->x = vec.x();
+ bo.position->y = vec.y();
+ bo.position->z = vec.z();
+ auto quat = Eigen::Quaternionf(dto.pose.block<3,3>(0,0));
+ bo.orientation->qw = quat.w();
+ bo.orientation->qx = quat.x();
+ bo.orientation->qy = quat.y();
+ bo.orientation->qz = quat.z();
+ }
+
+ void toAron(arondto::FramedPose& dto, const armarx::FramedPose& bo)
+ {
+ dto.header.frame = bo.frame;
+ dto.header.agent = bo.agent;
+ Eigen::Vector3f vec;
+ vec.x() = bo.position->x;
+ vec.y() = bo.position->y;
+ vec.z() = bo.position->z;
+ Eigen::Quaternionf quat;
+ quat.w() = bo.orientation->qw;
+ quat.x() = bo.orientation->qx;
+ quat.y() = bo.orientation->qy;
+ quat.z() = bo.orientation->qz;
+ dto.pose.block<3,1>(0,3) = vec;
+ dto.pose.block<3,3>(0,0) = quat.toRotationMatrix();
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
new file mode 100644
index 0000000000000000000000000000000000000000..49246f99c37c149d342c58b31f639fc68c6a07ed
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/framed.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+// arondto forward declarations
+namespace armarx::arondto
+{
+ class FramedPosition;
+ class FramedOrientation;
+ class FramedPose;
+ class FramedID;
+}
+
+
+namespace armarx
+{
+ void fromAron(const arondto::FramedPosition& dto, armarx::FramedPosition& bo);
+ void toAron(arondto::FramedPosition& dto, const armarx::FramedPosition& bo);
+
+ void fromAron(const arondto::FramedOrientation& dto, armarx::FramedOrientation& bo);
+ void toAron(arondto::FramedOrientation& dto, const armarx::FramedOrientation& bo);
+
+ void fromAron(const arondto::FramedPose& dto, armarx::FramedPose& bo);
+ void toAron(arondto::FramedPose& dto, const armarx::FramedPose& bo);
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a1168648b87d631707271f956bf4fe6558f9116f
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.cpp
@@ -0,0 +1,17 @@
+#include "packagepath.h"
+
+#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
+
+/* PackagePath */
+
+void armarx::fromAron(const arondto::PackagePath& dto, PackagePath& bo)
+{
+ bo = {dto.package, dto.path};
+}
+
+void armarx::toAron(arondto::PackagePath& dto, const PackagePath& bo)
+{
+ const data::PackagePath icedto = bo.serialize();
+ dto.package = icedto.package;
+ dto.path = icedto.path;
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h
new file mode 100644
index 0000000000000000000000000000000000000000..3dea6b7f3b442217a9afdc629c81b3f944f0865e
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/packagepath.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+#include <ArmarXCore/core/PackagePath.h>
+
+// arondto forward declarations
+namespace armarx::arondto
+{
+ class PackagePath;
+}
+
+namespace armarx
+{
+
+ void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
+ void toAron(arondto::PackagePath& dto, const PackagePath& bo);
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
index 5440ac1c6e39134c0034ccb67a06c4fff94445fa..68a7fada4109bdd90355d585cdade3bd530c5f34 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
@@ -1,5 +1,7 @@
#pragma once
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <SimoxUtility/shapes/OrientedBox.h>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
index 857d161ec035df81f9b7c1aca873c30f5f4a21aa..44426a551737ca024787310fbd45bfe50675181d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.cpp
@@ -1 +1 @@
-#include "stl.h"
+#include "core.h"
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
index 12c353e15d4e40975f6fae10cd927cd1393284d8..af62fb4fa63d02203535faf58d1b8fab8053ab72 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/stl.h
@@ -1,187 +1,12 @@
#pragma once
-#include <map>
-#include <memory>
-#include <optional>
-#include <vector>
+// This file is just a legacy include file.
+// We moved the stl and core conversions to the aron library.
-#include "core.h"
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
-
-namespace armarx::aron
+namespace armarx
{
- // std::unique_ptr
-
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
- {
- if (bo)
- {
- toAron(dto, *bo);
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
- {
- bo = std::make_unique<BoT>();
- fromAron(dto, *bo);
- }
-
-
- // std::optional
-
- template <class DtoT, class BoT>
- void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
- {
- if (bo.has_value())
- {
- dto = DtoT{};
- toAron(*dto, *bo);
- }
- else
- {
- dto = std::nullopt;
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
- {
- if (dto.has_value())
- {
- bo = BoT{};
- fromAron(*dto, *bo);
- }
- else
- {
- bo = std::nullopt;
- }
- }
-
- // Flag-controlled optional
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
- {
- dtoValid = boValid;
- if (boValid)
- {
- toAron(dto, bo);
- }
- else
- {
- dto = {};
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
- {
- boValid = dtoValid;
- if (dtoValid)
- {
- fromAron(dto, bo);
- }
- else
- {
- bo = {};
- }
- }
-
- template <class DtoT, class BoT>
- void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
- {
- dtoValid = bo.has_value();
- if (dtoValid)
- {
- toAron(dto, *bo);
- }
- else
- {
- dto = {};
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
- {
- if (dtoValid)
- {
- bo = BoT{};
- fromAron(dto, *bo);
- }
- else
- {
- bo = std::nullopt;
- }
- }
-
-
- // std::vector
-
- template <class DtoT, class BoT>
- void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
- {
- dtos.clear();
- dtos.reserve(bos.size());
- for (const auto& bo : bos)
- {
- toAron(dtos.emplace_back(), bo);
- }
- }
- template <class DtoT, class BoT>
- void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
- {
- bos.clear();
- bos.reserve(dtos.size());
- for (const auto& dto : dtos)
- {
- fromAron(dto, bos.emplace_back());
- }
- }
-
- template <class DtoT, class BoT>
- std::vector<DtoT> toAron(const std::vector<BoT>& bos)
- {
- std::vector<DtoT> dtos;
- toAron(dtos, bos);
- return dtos;
- }
-
-
- // std::map
-
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap,
- const std::map<BoKeyT, BoValueT>& boMap)
- {
- dtoMap.clear();
- for (const auto& [boKey, boValue] : boMap)
- {
- DtoKeyT dtoKey;
- toAron(dtoKey, boKey);
- auto [it, _] = dtoMap.emplace(std::move(dtoKey), DtoValueT{});
- toAron(it->second, boValue);
- }
- }
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap,
- std::map<BoKeyT, BoValueT>& boMap)
- {
- boMap.clear();
- for (const auto& [dtoKey, dtoValue] : dtoMap)
- {
- BoKeyT boKey;
- fromAron(dtoKey, boKey);
- auto [it, _] = boMap.emplace(boKey, BoValueT{});
- fromAron(dtoValue, it->second);
- }
- }
-
-
- template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
- std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
- {
- std::map<DtoKeyT, DtoValueT> dtoMap;
- toAron(dtoMap, boMap);
- return dtoMap;
- }
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a1d0825a4ed26670e94ac545b2319b3f98fe56a5
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.cpp
@@ -0,0 +1,107 @@
+#include "time.h"
+
+#include <IceUtil/Time.h>
+
+#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+
+void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
+{
+ bo = IceUtil::Time::microSeconds(dto);
+}
+
+void IceUtil::toAron(long& dto, const IceUtil::Time& bo)
+{
+ dto = bo.toMicroSeconds();
+}
+
+
+void IceUtil::fromAron(const IceUtil::Time& dto, armarx::DateTime& bo)
+{
+ fromIce(dto, bo);
+}
+
+void IceUtil::toAron(IceUtil::Time& dto, const armarx::DateTime& bo)
+{
+ toIce(dto, bo);
+}
+
+void armarx::fromAron(const arondto::ClockType& dto, armarx::ClockType& bo)
+{
+ switch (dto.value)
+ {
+ case arondto::ClockType::Realtime:
+ bo = ClockType::Realtime;
+ break;
+ case arondto::ClockType::Monotonic:
+ bo = ClockType::Monotonic;
+ break;
+ case arondto::ClockType::Virtual:
+ bo = ClockType::Virtual;
+ break;
+ case arondto::ClockType::Unknown:
+ bo = ClockType::Unknown;
+ break;
+ }
+}
+
+void armarx::toAron(arondto::ClockType& dto, const armarx::ClockType& bo)
+{
+ switch (bo)
+ {
+ case ClockType::Realtime:
+ dto = arondto::ClockType::Realtime;
+ break;
+ case ClockType::Monotonic:
+ dto = arondto::ClockType::Monotonic;
+ break;
+ case ClockType::Virtual:
+ dto = arondto::ClockType::Virtual;
+ break;
+ case ClockType::Unknown:
+ dto = arondto::ClockType::Unknown;
+ break;
+ }
+}
+
+void armarx::fromAron(const arondto::Duration& dto, armarx::Duration& bo)
+{
+ bo = Duration::MicroSeconds(dto.microSeconds);
+}
+
+void armarx::toAron(arondto::Duration& dto, const armarx::Duration& bo)
+{
+ dto.microSeconds = bo.toMicroSeconds();
+}
+
+void armarx::fromAron(const arondto::Frequency& dto, armarx::Frequency& bo)
+{
+ Duration cycleDuration;
+ fromAron(dto.cycleDuration, cycleDuration);
+
+ bo = Frequency(cycleDuration);
+}
+
+void armarx::toAron(arondto::Frequency& dto, const armarx::Frequency& bo)
+{
+ toAron(dto.cycleDuration, bo.toCycleDuration());
+}
+
+void armarx::fromAron(const arondto::DateTime& dto, armarx::DateTime& bo)
+{
+ ClockType clockType;
+ fromAron(dto.clockType, clockType);
+
+ Duration timeSinceEpoch;
+ fromAron(dto.timeSinceEpoch, timeSinceEpoch);
+
+ bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
+}
+
+void armarx::toAron(arondto::DateTime& dto, const armarx::DateTime& bo)
+{
+ toAron(dto.clockType, bo.clockType());
+ toAron(dto.timeSinceEpoch, bo.toDurationSinceEpoch());
+ dto.hostname = bo.hostname();
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/time.h b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
new file mode 100644
index 0000000000000000000000000000000000000000..271508d8dd58f9e0f78f220cf2206ad9c24dd331
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/time.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/Duration.h>
+#include <ArmarXCore/core/time/Frequency.h>
+
+// arondto forward declarations
+namespace armarx::arondto
+{
+ class ClockType;
+ class Duration;
+ class DateTime;
+ class Frequency;
+}
+
+
+namespace IceUtil
+{
+ class Time;
+
+ /* Deprecated stuff from old time type */
+ [[deprecated("Using IceUtil::Time in ArmarX is deprecated. Use armarx::DateTime instead.")]]
+ void fromAron(const long& dto, IceUtil::Time& bo);
+
+ [[deprecated("Using IceUtil::Time in ArmarX is deprecated. Use armarx::DateTime instead.")]]
+ void toAron(long& dto, const IceUtil::Time& bo);
+
+ [[deprecated("Using IceUtil::Time in ArmarX is deprecated. Use armarx::DateTime instead.")]]
+ void fromAron(const IceUtil::Time& dto, armarx::DateTime& bo);
+
+ [[deprecated("Using IceUtil::Time in ArmarX is deprecated. Use armarx::DateTime instead.")]]
+ void toAron(IceUtil::Time& dto, const armarx::DateTime& bo);
+}
+namespace armarx
+{
+ void fromAron(const arondto::ClockType& dto, ClockType& bo);
+ void toAron(arondto::ClockType& dto, const ClockType& bo);
+
+ void fromAron(const arondto::Duration& dto, Duration& bo);
+ void toAron(arondto::Duration& dto, const Duration& bo);
+
+ void fromAron(const arondto::Frequency& dto, Frequency& bo);
+ void toAron(arondto::Frequency& dto, const Frequency& bo);
+
+ void fromAron(const arondto::DateTime& dto, DateTime& bo);
+ void toAron(arondto::DateTime& dto, const DateTime& bo);
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/rw/framed.cpp b/source/RobotAPI/libraries/aron/common/rw/framed.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3f88461dbf51e7634cb25a9f96fbbc6f05a08b95
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/framed.cpp
@@ -0,0 +1,2 @@
+#include "framed.h"
+
diff --git a/source/RobotAPI/libraries/aron/common/rw/framed.h b/source/RobotAPI/libraries/aron/common/rw/framed.h
new file mode 100644
index 0000000000000000000000000000000000000000..21d3aae5a942774a8fc4598c7e780150c81f9451
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/framed.h
@@ -0,0 +1,65 @@
+#pragma once
+
+#include "../aron_conversions/framed.h"
+#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace armarx
+{
+ // Helper methods for code generation to convert json/aron to bo and vice versa
+ namespace aron
+ {
+ template<class ReaderT>
+ void read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedPosition& ret)
+ {
+ arondto::FramedPosition aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT>
+ void write(WriterT& aron_w, const armarx::FramedPosition& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::FramedPosition aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+
+ template<class ReaderT>
+ void read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedOrientation& ret)
+ {
+ arondto::FramedOrientation aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT>
+ void write(WriterT& aron_w, const armarx::FramedOrientation& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::FramedOrientation aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+
+ template<class ReaderT>
+ void read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedPose& ret)
+ {
+ arondto::FramedPose aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT>
+ void write(WriterT& aron_w, const armarx::FramedPose& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::FramedPose aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+ }
+
+} // namespace armarx
+
+
diff --git a/source/RobotAPI/libraries/aron/common/rw/time.cpp b/source/RobotAPI/libraries/aron/common/rw/time.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bbe876c66b979df75c4cd328edb1fea33611d987
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/time.cpp
@@ -0,0 +1 @@
+#include "time.h"
diff --git a/source/RobotAPI/libraries/aron/common/rw/time.h b/source/RobotAPI/libraries/aron/common/rw/time.h
new file mode 100644
index 0000000000000000000000000000000000000000..0549d82f1b3411c9b5dc9c8c30fd8c7d640ce4cd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/rw/time.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "../aron_conversions/time.h"
+#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
+
+namespace armarx
+{
+ // Helper methods for code generation to convert json/aron to bo and vice versa
+ namespace aron
+ {
+ template<class ReaderT>
+ void read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::core::time::DateTime& ret)
+ {
+ arondto::DateTime aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT>
+ void write(WriterT& aron_w, const armarx::core::time::DateTime& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::DateTime aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+
+
+
+ template<class ReaderT>
+ void read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::core::time::Duration& ret)
+ {
+ arondto::Duration aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT>
+ void write(WriterT& aron_w, const armarx::core::time::Duration& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ arondto::Duration aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+ }
+
+} // namespace armarx
+
diff --git a/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp b/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
index 6431732ee0e295d826a8af01995e20584789c7eb..3d4ba61b8466b65d12334533d25720fca40ce1b8 100644
--- a/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
+++ b/source/RobotAPI/libraries/aron/common/test/MyCustomType.cpp
@@ -23,7 +23,7 @@
#include <ostream>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
template <class CustomTypeT>
diff --git a/source/RobotAPI/libraries/aron/common/test/MyCustomType.h b/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
index 31a4507dbfc02a4100bae5426b4c2b2a9d87c447..f266c7a371070495b8d1d8d3331efc66e95b5d89 100644
--- a/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
+++ b/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
@@ -24,6 +24,7 @@
#include <string>
#include <vector>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
namespace my
{
@@ -39,11 +40,15 @@ namespace my
namespace arondto
{
- struct CustomType
+ class CustomType : public armarx::aron::cpp::AronGeneratedClass
{
+ public:
std::string name;
int index;
float value;
+
+ CustomType() = default;
+ CustomType(const std::string& n, int i, float f) : name(n), index(i), value(f) {}
};
std::ostream& operator<<(std::ostream& os, const arondto::CustomType& rhs);
@@ -84,12 +89,6 @@ namespace std
return !(lhs == rhs);
}
- template <class L1, class L2>
- std::ostream& operator<<(std::ostream& os, const std::pair<L1, L2>& pair)
- {
- return os << "(" << pair.first << " | " << pair.second << ")";
- }
-
template <class L, class R>
bool operator==(const std::vector<L>& lhs, const std::vector<R>& rhs)
diff --git a/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp b/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
index 0503f01327f4f8c6653bbf09d379f79549ccc5fb..6c66ae28fbbc8d498d937376a6a638f63c6bee5b 100644
--- a/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
+++ b/source/RobotAPI/libraries/aron/common/test/aron_common_test.cpp
@@ -26,8 +26,7 @@
#include <RobotAPI/Test.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <iostream>
diff --git a/source/RobotAPI/libraries/aron/common/util/object_finders.h b/source/RobotAPI/libraries/aron/common/util/object_finders.h
index ff67043de5cea4e608dd3f9d488130d80255005d..879b2231cdebe788a2602d483d5e126a2cf349a5 100644
--- a/source/RobotAPI/libraries/aron/common/util/object_finders.h
+++ b/source/RobotAPI/libraries/aron/common/util/object_finders.h
@@ -27,7 +27,7 @@
#include <SimoxUtility/algorithm/string.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index 537b389e36191a4a59cd0da08d7ca26e3f889855..e6429e7fe75ba54fea8a38c6f41398c0d149d2a5 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -11,7 +11,6 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::data::VariantPtr& aron, nlohmann::json& j)
{
- aron::data::writer::NlohmannJSONWriter dataWriter;
j = aron::data::readAndWrite<data::FromVariantConverter<data::writer::NlohmannJSONWriter>>(aron);
}
@@ -24,7 +23,6 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::type::VariantPtr& aron, nlohmann::json& j)
{
- aron::type::writer::NlohmannJSONWriter typeWriter;
j = aron::type::readAndWrite<type::FromVariantConverter<type::writer::NlohmannJSONWriter>>(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 1f6fb1582f3af4a98ba739a9621bd6db7988e160..e17910e7f15989afc0c99c8284469074c1f88f34 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -10,7 +10,6 @@ set(LIBS
ArmarXCoreInterfaces
ArmarXCore
RobotAPIInterfaces
- cppgen
SimoxUtility
)
@@ -19,6 +18,10 @@ set(LIB_FILES
Exception.cpp
Path.cpp
+ aron_conversions.cpp
+ rw.cpp
+
+
data/variant/Variant.cpp
data/variant/detail/SpecializedVariant.cpp
data/variant/detail/ContainerVariant.cpp
@@ -42,6 +45,7 @@ set(LIB_FILES
type/variant/detail/EnumVariant.cpp
type/variant/detail/PrimitiveVariant.cpp
type/variant/detail/AnyVariant.cpp
+ type/variant/detail/DtoVariant.cpp
type/variant/container/Object.cpp
type/variant/container/List.cpp
type/variant/container/Dict.cpp
@@ -52,9 +56,6 @@ set(LIB_FILES
type/variant/ndarray/Quaternion.cpp
type/variant/ndarray/Image.cpp
type/variant/ndarray/PointCloud.cpp
- type/variant/ndarray/Position.cpp
- type/variant/ndarray/Pose.cpp
- type/variant/ndarray/Orientation.cpp
type/variant/enum/IntEnum.cpp
type/variant/primitive/Int.cpp
type/variant/primitive/Long.cpp
@@ -62,7 +63,6 @@ set(LIB_FILES
type/variant/primitive/Double.cpp
type/variant/primitive/String.cpp
type/variant/primitive/Bool.cpp
- type/variant/primitive/Time.cpp
type/variant/any/AnyObject.cpp
type/variant/Factory.cpp
@@ -99,43 +99,6 @@ set(LIB_FILES
type/converter/Converter.cpp
type/converter/variant/VariantConverter.cpp
type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
-
- typereader/xml/Data.cpp
- typereader/xml/Factory.cpp
- typereader/xml/Reader.cpp
-
- codegenerator/codewriter/cpp/Writer.cpp
- codegenerator/codewriter/cpp/generator/Generator.cpp
- codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.cpp
- codegenerator/codewriter/cpp/generator/detail/AnyGenerator.cpp
- codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
- codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
- codegenerator/codewriter/cpp/generator/container/Dict.cpp
- codegenerator/codewriter/cpp/generator/container/List.cpp
- codegenerator/codewriter/cpp/generator/container/Object.cpp
- codegenerator/codewriter/cpp/generator/container/Tuple.cpp
- codegenerator/codewriter/cpp/generator/container/Pair.cpp
- codegenerator/codewriter/cpp/generator/ndarray/NDArray.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
- codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Position.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Orientation.cpp
- codegenerator/codewriter/cpp/generator/ndarray/Pose.cpp
- codegenerator/codewriter/cpp/generator/enum/IntEnum.cpp
- codegenerator/codewriter/cpp/generator/primitive/Int.cpp
- codegenerator/codewriter/cpp/generator/primitive/Long.cpp
- codegenerator/codewriter/cpp/generator/primitive/Float.cpp
- codegenerator/codewriter/cpp/generator/primitive/Double.cpp
- codegenerator/codewriter/cpp/generator/primitive/String.cpp
- codegenerator/codewriter/cpp/generator/primitive/Bool.cpp
- codegenerator/codewriter/cpp/generator/primitive/Time.cpp
- codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
- codegenerator/codewriter/cpp/generator/Factory.cpp
)
set(LIB_HEADERS
@@ -143,6 +106,11 @@ set(LIB_HEADERS
Exception.h
Path.h
+ codegeneration/cpp/AronGeneratedClass.h
+
+ aron_conversions.h
+ rw.h
+
data/variant/Variant.h
data/variant/detail/SpecializedVariant.h
data/variant/detail/ContainerVariant.h
@@ -172,6 +140,7 @@ set(LIB_HEADERS
type/variant/detail/EnumVariant.h
type/variant/detail/PrimitiveVariant.h
type/variant/detail/AnyVariant.h
+ type/variant/detail/DtoVariant.h
type/variant/container/Object.h
type/variant/container/List.h
type/variant/container/Dict.h
@@ -183,9 +152,6 @@ set(LIB_HEADERS
type/variant/ndarray/Quaternion.h
type/variant/ndarray/Image.h
type/variant/ndarray/PointCloud.h
- type/variant/ndarray/Position.h
- type/variant/ndarray/Pose.h
- type/variant/ndarray/Orientation.h
type/variant/ndarray/All.h
type/variant/enum/IntEnum.h
type/variant/enum/All.h
@@ -195,7 +161,6 @@ set(LIB_HEADERS
type/variant/primitive/Double.h
type/variant/primitive/String.h
type/variant/primitive/Bool.h
- type/variant/primitive/Time.h
type/variant/primitive/All.h
type/variant/any/AnyObject.h
type/variant/any/All.h
@@ -240,62 +205,6 @@ set(LIB_HEADERS
type/converter/Converter.h
type/converter/variant/VariantConverter.h
type/converter/nlohmannJSON/NlohmannJSONConverter.h
-
- typereader/helper/GenerateInfo.h
- typereader/helper/GenerateTypeInfo.h
- typereader/helper/GenerateIntEnumInfo.h
-
- typereader/Reader.h
- typereader/xml/Data.h
- typereader/xml/Factory.h
- typereader/xml/Reader.h
-
- codegenerator/helper/WriterInfo.h
- codegenerator/helper/ReaderInfo.h
-
- codegenerator/codewriter/CodeWriter.h
- codegenerator/codewriter/Factory.h
-
- codegenerator/codewriter/cpp/AronGeneratedClass.h
- codegenerator/codewriter/cpp/Writer.h
- codegenerator/codewriter/cpp/generator/Generator.h
- codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
- codegenerator/codewriter/cpp/generator/detail/ContainerGenerator.h
- codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h
- codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h
- codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
- codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.h
- codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
- codegenerator/codewriter/cpp/generator/toplevel/All.h
- codegenerator/codewriter/cpp/generator/container/Dict.h
- codegenerator/codewriter/cpp/generator/container/List.h
- codegenerator/codewriter/cpp/generator/container/Object.h
- codegenerator/codewriter/cpp/generator/container/Tuple.h
- codegenerator/codewriter/cpp/generator/container/Pair.h
- codegenerator/codewriter/cpp/generator/container/All.h
- codegenerator/codewriter/cpp/generator/ndarray/NDArray.h
- codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
- codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
- codegenerator/codewriter/cpp/generator/ndarray/Image.h
- codegenerator/codewriter/cpp/generator/ndarray/PointCloud.h
- codegenerator/codewriter/cpp/generator/ndarray/Position.h
- codegenerator/codewriter/cpp/generator/ndarray/Orientation.h
- codegenerator/codewriter/cpp/generator/ndarray/Pose.h
- codegenerator/codewriter/cpp/generator/ndarray/All.h
- codegenerator/codewriter/cpp/generator/enum/IntEnum.h
- codegenerator/codewriter/cpp/generator/enum/All.h
- codegenerator/codewriter/cpp/generator/primitive/Int.h
- codegenerator/codewriter/cpp/generator/primitive/Long.h
- codegenerator/codewriter/cpp/generator/primitive/Float.h
- codegenerator/codewriter/cpp/generator/primitive/Double.h
- codegenerator/codewriter/cpp/generator/primitive/String.h
- codegenerator/codewriter/cpp/generator/primitive/Bool.h
- codegenerator/codewriter/cpp/generator/primitive/Time.h
- codegenerator/codewriter/cpp/generator/primitive/All.h
- codegenerator/codewriter/cpp/generator/any/AnyObject.h
- codegenerator/codewriter/cpp/generator/any/All.h
- codegenerator/codewriter/cpp/generator/All.h
- codegenerator/codewriter/cpp/generator/Factory.h
)
diff --git a/source/RobotAPI/libraries/aron/core/Descriptor.h b/source/RobotAPI/libraries/aron/core/Descriptor.h
index 0d6bba5a4417040a0cc23f5fec7b9a5b72c41259..5b386f58376492253e8d7387c0a384def4ffeac6 100644
--- a/source/RobotAPI/libraries/aron/core/Descriptor.h
+++ b/source/RobotAPI/libraries/aron/core/Descriptor.h
@@ -36,49 +36,6 @@
// ArmarX
#include <RobotAPI/interface/aron.h>
-
-/**
- * This file contains basic enums to distinguish aron::data and aron::types and utility functions to generate maps converting the neum to strings or vice versa.
- * Further, this file contains a conversion map from ice_ids to descriptors.
- *
- * Every data- or type-object has a descriptor, containing the correct enum for this object. All aron-variants must be either:
- * DATA:
- * - Dict
- * - List
- * - NDArray
- * - Int
- * - Long
- * - Float
- * - Double
- * - String
- * - Bool
- *
- * TYPE:
- * - Object
- * - Dict
- * - List
- * - Pair
- * - Tuple
- * - NDArray
- * - Matrix
- * - Orientation
- * - Position
- * - Pose
- * - Quaternion
- * - Image
- * - Pointcloud
- * - Int Enum
- * - Int
- * - Long
- * - Float
- * - Double
- * - String
- * - Bool
- * - Time
- *
- * A variant should never have eUnknown as its internal type (The enums are const and only set on construction).
- * If you want to execute a specific function for a specific variant, please refer to the visitor implementation.
- */
namespace armarx::aron::conversion::util
{
template <class T1, class T2>
@@ -109,65 +66,57 @@ namespace armarx::aron::type
{
const std::vector<type::Maybe> AllMaybeTypes =
{
- type::Maybe::eNone,
- type::Maybe::eOptional,
- type::Maybe::eRawPointer,
- type::Maybe::eSharedPointer,
- type::Maybe::eUniquePointer
+ type::Maybe::NONE,
+ type::Maybe::OPTIONAL,
+ type::Maybe::RAW_PTR,
+ type::Maybe::SHARED_PTR,
+ type::Maybe::UNIQUE_PTR
};
enum class Descriptor
{
- eList,
- eObject,
- eTuple,
- ePair,
- eDict,
- eNDArray,
- eMatrix,
- eQuaternion,
- ePointCloud,
- ePosition,
- eOrientation,
- ePose,
- eImage,
- eIntEnum,
- eInt,
- eLong,
- eFloat,
- eDouble,
- eString,
- eBool,
- eTime,
- eAnyObject,
- eUnknown = -1
+ LIST,
+ OBJECT,
+ TUPLE,
+ PAIR,
+ DICT,
+ NDARRAY,
+ MATRIX,
+ QUATERNION,
+ POINTCLOUD,
+ IMAGE,
+ INT_ENUM,
+ INT,
+ LONG,
+ FLOAT,
+ DOUBLE,
+ BOOL,
+ STRING,
+ ANY_OBJECT,
+ UNKNOWN = -1
};
const std::vector<type::Descriptor> AllDescriptors =
{
- Descriptor::eList,
- Descriptor::eObject,
- Descriptor::eTuple,
- Descriptor::ePair,
- Descriptor::eDict,
- Descriptor::eNDArray,
- Descriptor::eMatrix,
- Descriptor::eQuaternion,
- Descriptor::ePointCloud,
- Descriptor::ePosition,
- Descriptor::eOrientation,
- Descriptor::ePose,
- Descriptor::eImage,
- Descriptor::eIntEnum,
- Descriptor::eInt,
- Descriptor::eLong,
- Descriptor::eFloat,
- Descriptor::eDouble,
- Descriptor::eString,
- Descriptor::eBool,
- Descriptor::eTime,
- Descriptor::eAnyObject,
- Descriptor::eUnknown
+ Descriptor::LIST,
+ Descriptor::OBJECT,
+ Descriptor::TUPLE,
+ Descriptor::PAIR,
+ Descriptor::DICT,
+ Descriptor::NDARRAY,
+ Descriptor::MATRIX,
+ Descriptor::QUATERNION,
+ Descriptor::POINTCLOUD,
+ Descriptor::IMAGE,
+ Descriptor::INT_ENUM,
+ Descriptor::INT,
+ Descriptor::LONG,
+ Descriptor::FLOAT,
+ Descriptor::DOUBLE,
+ Descriptor::BOOL,
+ Descriptor::STRING,
+ Descriptor::ANY_OBJECT,
+ Descriptor::UNKNOWN
};
namespace defaultconversion::string
@@ -175,40 +124,36 @@ namespace armarx::aron::type
// Maybe
const std::map<type::Maybe, std::string> Maybe2String =
{
- {Maybe::eNone, "armarx::aron::type::Maybe::eNone"},
- {Maybe::eRawPointer, "armarx::aron::type::Maybe::eRawPointer"},
- {Maybe::eSharedPointer, "armarx::aron::type::Maybe::eSharedPointer"},
- {Maybe::eUniquePointer, "armarx::aron::type::Maybe::eUniquePointer"},
- {Maybe::eOptional, "armarx::aron::type::Maybe::eOptional"}
+ {Maybe::NONE, "armarx::aron::type::Maybe::NONE"},
+ {Maybe::RAW_PTR, "armarx::aron::type::Maybe::RAW_PTR"},
+ {Maybe::SHARED_PTR, "armarx::aron::type::Maybe::SHARED_PTR"},
+ {Maybe::UNIQUE_PTR, "armarx::aron::type::Maybe::UNIQUE_PTR"},
+ {Maybe::OPTIONAL, "armarx::aron::type::Maybe::OPTIONAL"}
};
// Descriptor
const std::map<type::Descriptor, std::string> Descriptor2String =
{
- {Descriptor::eList, "armarx::aron::type::Descriptor::eList"},
- {Descriptor::eObject, "armarx::aron::type::Descriptor::eObject"},
- {Descriptor::eDict, "armarx::aron::type::Descriptor::eDict"},
- {Descriptor::ePair, "armarx::aron::type::Descriptor::ePair"},
- {Descriptor::eTuple, "armarx::aron::type::Descriptor::eTuple"},
- {Descriptor::eNDArray, "armarx::aron::type::Descriptor::eNDArray"},
- {Descriptor::eMatrix, "armarx::aron::type::Descriptor::eMatrix"},
- {Descriptor::eOrientation, "armarx::aron::type::Descriptor::eOrientation"},
- {Descriptor::eQuaternion, "armarx::aron::type::Descriptor::eQuaternion"},
- {Descriptor::eImage, "armarx::aron::type::Descriptor::eImage"},
- {Descriptor::ePointCloud, "armarx::aron::type::Descriptor::ePointCloud"},
- {Descriptor::eNDArray, "armarx::aron::type::Descriptor::eNDArray"},
- {Descriptor::ePose, "armarx::aron::type::Descriptor::ePose"},
- {Descriptor::ePosition, "armarx::aron::type::Descriptor::ePosition"},
- {Descriptor::eIntEnum, "armarx::aron::type::Descriptor::eIntEnum"},
- {Descriptor::eInt, "armarx::aron::type::Descriptor::eInt"},
- {Descriptor::eLong, "armarx::aron::type::Descriptor::eLong"},
- {Descriptor::eFloat, "armarx::aron::type::Descriptor::eFloat"},
- {Descriptor::eDouble, "armarx::aron::type::Descriptor::eDouble"},
- {Descriptor::eString, "armarx::aron::type::Descriptor::eString"},
- {Descriptor::eBool, "armarx::aron::type::Descriptor::eBool"},
- {Descriptor::eTime, "armarx::aron::type::Descriptor::eTime"},
- {Descriptor::eAnyObject, "armarx::aron::type::Descriptor::eAnyObject"},
- {Descriptor::eUnknown, "armarx::aron::type::Descriptor::eUnknown"}
+ {Descriptor::LIST, "armarx::aron::type::Descriptor::LIST"},
+ {Descriptor::OBJECT, "armarx::aron::type::Descriptor::OBJECT"},
+ {Descriptor::DICT, "armarx::aron::type::Descriptor::DICT"},
+ {Descriptor::PAIR, "armarx::aron::type::Descriptor::PAIR"},
+ {Descriptor::TUPLE, "armarx::aron::type::Descriptor::TUPLE"},
+ {Descriptor::NDARRAY, "armarx::aron::type::Descriptor::NDARRAY"},
+ {Descriptor::MATRIX, "armarx::aron::type::Descriptor::MATRIX"},
+ {Descriptor::QUATERNION, "armarx::aron::type::Descriptor::QUATERNION"},
+ {Descriptor::IMAGE, "armarx::aron::type::Descriptor::IMAGE"},
+ {Descriptor::POINTCLOUD, "armarx::aron::type::Descriptor::POINTCLOUD"},
+ {Descriptor::NDARRAY, "armarx::aron::type::Descriptor::NDARRAY"},
+ {Descriptor::INT_ENUM, "armarx::aron::type::Descriptor::INT_ENUM"},
+ {Descriptor::INT, "armarx::aron::type::Descriptor::INT"},
+ {Descriptor::LONG, "armarx::aron::type::Descriptor::LONG"},
+ {Descriptor::FLOAT, "armarx::aron::type::Descriptor::FLOAT"},
+ {Descriptor::DOUBLE, "armarx::aron::type::Descriptor::DOUBLE"},
+ {Descriptor::BOOL, "armarx::aron::type::Descriptor::BOOL"},
+ {Descriptor::STRING, "armarx::aron::type::Descriptor::STRING"},
+ {Descriptor::ANY_OBJECT, "armarx::aron::type::Descriptor::ANY_OBJECT"},
+ {Descriptor::UNKNOWN, "armarx::aron::type::Descriptor::UNKNOWN"}
};
}
@@ -216,28 +161,24 @@ namespace armarx::aron::type
{
// hash type
const std::map<size_t, Descriptor> TypeId2Descriptor = {
- {typeid(aron::type::dto::List).hash_code(), Descriptor::eList},
- {typeid(aron::type::dto::AronObject).hash_code(), Descriptor::eObject},
- {typeid(aron::type::dto::Tuple).hash_code(), Descriptor::eTuple},
- {typeid(aron::type::dto::Pair).hash_code(), Descriptor::ePair},
- {typeid(aron::type::dto::Dict).hash_code(), Descriptor::eDict},
- {typeid(aron::type::dto::NDArray).hash_code(), Descriptor::eNDArray},
- {typeid(aron::type::dto::Matrix).hash_code(), Descriptor::eMatrix},
- {typeid(aron::type::dto::Quaternion).hash_code(), Descriptor::eQuaternion},
- {typeid(aron::type::dto::PointCloud).hash_code(), Descriptor::ePointCloud},
- {typeid(aron::type::dto::Position).hash_code(), Descriptor::ePosition},
- {typeid(aron::type::dto::Orientation).hash_code(), Descriptor::eOrientation},
- {typeid(aron::type::dto::Pose).hash_code(), Descriptor::ePose},
- {typeid(aron::type::dto::Image).hash_code(), Descriptor::eImage},
- {typeid(aron::type::dto::IntEnum).hash_code(), Descriptor::eIntEnum},
- {typeid(aron::type::dto::AronInt).hash_code(), Descriptor::eInt},
- {typeid(aron::type::dto::AronFloat).hash_code(), Descriptor::eFloat},
- {typeid(aron::type::dto::AronLong).hash_code(), Descriptor::eLong},
- {typeid(aron::type::dto::AronDouble).hash_code(), Descriptor::eDouble},
- {typeid(aron::type::dto::AronString).hash_code(), Descriptor::eString},
- {typeid(aron::type::dto::AronBool).hash_code(), Descriptor::eBool},
- {typeid(aron::type::dto::AronTime).hash_code(), Descriptor::eTime},
- {typeid(aron::type::dto::AnyObject).hash_code(), Descriptor::eAnyObject}
+ {typeid(aron::type::dto::List).hash_code(), Descriptor::LIST},
+ {typeid(aron::type::dto::AronObject).hash_code(), Descriptor::OBJECT},
+ {typeid(aron::type::dto::Tuple).hash_code(), Descriptor::TUPLE},
+ {typeid(aron::type::dto::Pair).hash_code(), Descriptor::PAIR},
+ {typeid(aron::type::dto::Dict).hash_code(), Descriptor::DICT},
+ {typeid(aron::type::dto::NDArray).hash_code(), Descriptor::NDARRAY},
+ {typeid(aron::type::dto::Matrix).hash_code(), Descriptor::MATRIX},
+ {typeid(aron::type::dto::Quaternion).hash_code(), Descriptor::QUATERNION},
+ {typeid(aron::type::dto::PointCloud).hash_code(), Descriptor::POINTCLOUD},
+ {typeid(aron::type::dto::Image).hash_code(), Descriptor::IMAGE},
+ {typeid(aron::type::dto::IntEnum).hash_code(), Descriptor::INT_ENUM},
+ {typeid(aron::type::dto::AronInt).hash_code(), Descriptor::INT},
+ {typeid(aron::type::dto::AronLong).hash_code(), Descriptor::LONG},
+ {typeid(aron::type::dto::AronFloat).hash_code(), Descriptor::FLOAT},
+ {typeid(aron::type::dto::AronDouble).hash_code(), Descriptor::DOUBLE},
+ {typeid(aron::type::dto::AronString).hash_code(), Descriptor::STRING},
+ {typeid(aron::type::dto::AronBool).hash_code(), Descriptor::BOOL},
+ {typeid(aron::type::dto::AnyObject).hash_code(), Descriptor::ANY_OBJECT}
};
}
@@ -251,30 +192,30 @@ namespace armarx::aron::data
{
enum class Descriptor
{
- eList,
- eDict,
- eNDArray,
- eInt,
- eLong,
- eFloat,
- eDouble,
- eString,
- eBool,
- eUnknown = -1
+ LIST,
+ DICT,
+ NDARRAY,
+ INT,
+ LONG,
+ FLOAT,
+ DOUBLE,
+ STRING,
+ BOOL,
+ UNKNOWN = -1
};
const std::vector<data::Descriptor> AllDescriptors =
{
- Descriptor::eList,
- Descriptor::eDict,
- Descriptor::eNDArray,
- Descriptor::eInt,
- Descriptor::eLong,
- Descriptor::eFloat,
- Descriptor::eDouble,
- Descriptor::eString,
- Descriptor::eBool,
- Descriptor::eUnknown
+ Descriptor::LIST,
+ Descriptor::DICT,
+ Descriptor::NDARRAY,
+ Descriptor::INT,
+ Descriptor::LONG,
+ Descriptor::FLOAT,
+ Descriptor::DOUBLE,
+ Descriptor::STRING,
+ Descriptor::BOOL,
+ Descriptor::UNKNOWN
};
namespace defaultconversion::string
@@ -282,16 +223,16 @@ namespace armarx::aron::data
// Descriptor
const std::map<data::Descriptor, std::string> Descriptor2String =
{
- {Descriptor::eList, "armarx::aron::data::Descriptor::eList"},
- {Descriptor::eDict, "armarx::aron::data::Descriptor::eDict"},
- {Descriptor::eNDArray, "armarx::aron::data::Descriptor::eNDArray"},
- {Descriptor::eInt, "armarx::aron::data::Descriptor::eInt"},
- {Descriptor::eLong, "armarx::aron::data::Descriptor::eLong"},
- {Descriptor::eFloat, "armarx::aron::data::Descriptor::eFloat"},
- {Descriptor::eDouble, "armarx::aron::data::Descriptor::eDouble"},
- {Descriptor::eString, "armarx::aron::data::Descriptor::eString"},
- {Descriptor::eBool, "armarx::aron::data::Descriptor::eBool"},
- {Descriptor::eUnknown, "armarx::aron::data::Descriptor::eUnknown"}
+ {Descriptor::LIST, "armarx::aron::data::Descriptor::LIST"},
+ {Descriptor::DICT, "armarx::aron::data::Descriptor::DICT"},
+ {Descriptor::NDARRAY, "armarx::aron::data::Descriptor::NDARRAY"},
+ {Descriptor::INT, "armarx::aron::data::Descriptor::INT"},
+ {Descriptor::LONG, "armarx::aron::data::Descriptor::LONG"},
+ {Descriptor::FLOAT, "armarx::aron::data::Descriptor::FLOAT"},
+ {Descriptor::DOUBLE, "armarx::aron::data::Descriptor::DOUBLE"},
+ {Descriptor::STRING, "armarx::aron::data::Descriptor::STRING"},
+ {Descriptor::BOOL, "armarx::aron::data::Descriptor::BOOL"},
+ {Descriptor::UNKNOWN, "armarx::aron::data::Descriptor::UNKNOWN"}
};
}
@@ -299,15 +240,15 @@ namespace armarx::aron::data
{
// TypeID
const std::map<size_t, Descriptor> TypeId2Descriptor = {
- {typeid(aron::data::dto::List).hash_code(), Descriptor::eList},
- {typeid(aron::data::dto::Dict).hash_code(), Descriptor::eDict},
- {typeid(aron::data::dto::NDArray).hash_code(), Descriptor::eNDArray},
- {typeid(aron::data::dto::AronInt).hash_code(), Descriptor::eInt},
- {typeid(aron::data::dto::AronFloat).hash_code(), Descriptor::eFloat},
- {typeid(aron::data::dto::AronLong).hash_code(), Descriptor::eLong},
- {typeid(aron::data::dto::AronDouble).hash_code(), Descriptor::eDouble},
- {typeid(aron::data::dto::AronString).hash_code(), Descriptor::eString},
- {typeid(aron::data::dto::AronBool).hash_code(), Descriptor::eBool},
+ {typeid(aron::data::dto::List).hash_code(), Descriptor::LIST},
+ {typeid(aron::data::dto::Dict).hash_code(), Descriptor::DICT},
+ {typeid(aron::data::dto::NDArray).hash_code(), Descriptor::NDARRAY},
+ {typeid(aron::data::dto::AronInt).hash_code(), Descriptor::INT},
+ {typeid(aron::data::dto::AronFloat).hash_code(), Descriptor::FLOAT},
+ {typeid(aron::data::dto::AronLong).hash_code(), Descriptor::LONG},
+ {typeid(aron::data::dto::AronDouble).hash_code(), Descriptor::DOUBLE},
+ {typeid(aron::data::dto::AronString).hash_code(), Descriptor::STRING},
+ {typeid(aron::data::dto::AronBool).hash_code(), Descriptor::BOOL},
};
}
@@ -318,42 +259,46 @@ namespace armarx::aron::data
namespace defaultconversion
{
+ // Useful if data is present but no type information. Try to infer type from data.
const std::map<Descriptor, aron::type::Descriptor> Data2TypeDescriptor = {
- {Descriptor::eList, aron::type::Descriptor::eList},
- {Descriptor::eDict, aron::type::Descriptor::eDict},
- {Descriptor::eNDArray, aron::type::Descriptor::eNDArray},
- {Descriptor::eInt, aron::type::Descriptor::eInt},
- {Descriptor::eFloat, aron::type::Descriptor::eFloat},
- {Descriptor::eLong, aron::type::Descriptor::eLong},
- {Descriptor::eDouble, aron::type::Descriptor::eDouble},
- {Descriptor::eString, aron::type::Descriptor::eString},
- {Descriptor::eBool, aron::type::Descriptor::eBool},
- {Descriptor::eUnknown, aron::type::Descriptor::eUnknown}
+ {Descriptor::LIST, aron::type::Descriptor::LIST},
+ {Descriptor::DICT, aron::type::Descriptor::DICT},
+ {Descriptor::NDARRAY, aron::type::Descriptor::NDARRAY},
+ {Descriptor::INT, aron::type::Descriptor::INT},
+ {Descriptor::FLOAT, aron::type::Descriptor::FLOAT},
+ {Descriptor::LONG, aron::type::Descriptor::LONG},
+ {Descriptor::DOUBLE, aron::type::Descriptor::DOUBLE},
+ {Descriptor::STRING, aron::type::Descriptor::STRING},
+ {Descriptor::BOOL, aron::type::Descriptor::BOOL},
+ {Descriptor::UNKNOWN, aron::type::Descriptor::UNKNOWN}
};
const std::map<aron::type::Descriptor, Descriptor> Type2DataDescriptor = {
- {aron::type::Descriptor::eList, Descriptor::eList},
- {aron::type::Descriptor::eObject, Descriptor::eDict},
- {aron::type::Descriptor::eTuple, Descriptor::eList},
- {aron::type::Descriptor::ePair, Descriptor::eList},
- {aron::type::Descriptor::eDict, Descriptor::eDict},
- {aron::type::Descriptor::eNDArray, Descriptor::eNDArray},
- {aron::type::Descriptor::eMatrix, Descriptor::eNDArray},
- {aron::type::Descriptor::eQuaternion, Descriptor::eNDArray},
- {aron::type::Descriptor::ePointCloud, Descriptor::eNDArray},
- {aron::type::Descriptor::ePosition, Descriptor::eNDArray},
- {aron::type::Descriptor::eOrientation, Descriptor::eNDArray},
- {aron::type::Descriptor::ePose, Descriptor::eNDArray},
- {aron::type::Descriptor::eImage, Descriptor::eNDArray},
- {aron::type::Descriptor::eIntEnum, Descriptor::eInt},
- {aron::type::Descriptor::eInt, Descriptor::eInt},
- {aron::type::Descriptor::eLong, Descriptor::eLong},
- {aron::type::Descriptor::eFloat, Descriptor::eFloat},
- {aron::type::Descriptor::eDouble, Descriptor::eDouble},
- {aron::type::Descriptor::eString, Descriptor::eString},
- {aron::type::Descriptor::eBool, Descriptor::eBool},
- {aron::type::Descriptor::eTime, Descriptor::eLong},
- {aron::type::Descriptor::eUnknown, Descriptor::eUnknown},
+ // containers
+ {aron::type::Descriptor::LIST, Descriptor::LIST},
+ {aron::type::Descriptor::OBJECT, Descriptor::DICT},
+ {aron::type::Descriptor::TUPLE, Descriptor::LIST},
+ {aron::type::Descriptor::PAIR, Descriptor::LIST},
+ {aron::type::Descriptor::DICT, Descriptor::DICT},
+
+ // everything which gets an ndarray
+ {aron::type::Descriptor::NDARRAY, Descriptor::NDARRAY},
+ {aron::type::Descriptor::MATRIX, Descriptor::NDARRAY},
+ {aron::type::Descriptor::QUATERNION, Descriptor::NDARRAY},
+ {aron::type::Descriptor::POINTCLOUD, Descriptor::NDARRAY},
+ {aron::type::Descriptor::IMAGE, Descriptor::NDARRAY},
+
+ // enums
+ {aron::type::Descriptor::INT_ENUM, Descriptor::INT},
+
+ // primitives
+ {aron::type::Descriptor::INT, Descriptor::INT},
+ {aron::type::Descriptor::LONG, Descriptor::LONG},
+ {aron::type::Descriptor::FLOAT, Descriptor::FLOAT},
+ {aron::type::Descriptor::DOUBLE, Descriptor::DOUBLE},
+ {aron::type::Descriptor::STRING, Descriptor::STRING},
+ {aron::type::Descriptor::BOOL, Descriptor::BOOL},
+ {aron::type::Descriptor::UNKNOWN, Descriptor::UNKNOWN},
};
}
}
diff --git a/source/RobotAPI/libraries/aron/core/Exception.h b/source/RobotAPI/libraries/aron/core/Exception.h
index 05e78204366d766518db7bf161d1580880f3299a..52de8098900e7a8dc5538aa4d53453cffe52a7e5 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.h
+++ b/source/RobotAPI/libraries/aron/core/Exception.h
@@ -54,6 +54,20 @@ namespace armarx::aron::error
}
};
+ /**
+ * @brief A base class for aron exceptions. All aron exceptions inherit from this class
+ */
+ class AronEOFException :
+ public AronException
+ {
+ public:
+ AronEOFException() = delete;
+ AronEOFException(const std::string& prettymethod) :
+ AronException(prettymethod, "REACHED THE END OF A NON VOID METHOD. PERHAPS YOU FORGOT TO ADD A VALUE TO SOME SWITCH-CASE STATEMEMT?.")
+ {
+ }
+ };
+
/**
* @brief The NotImplementedYetException class
*/
diff --git a/source/RobotAPI/libraries/aron/core/Path.cpp b/source/RobotAPI/libraries/aron/core/Path.cpp
index bcc51b5d3e2974766b8e0aa84e034410602c8698..8218b431b035ec878ef1a1165ed8c6cbf8b07ba5 100644
--- a/source/RobotAPI/libraries/aron/core/Path.cpp
+++ b/source/RobotAPI/libraries/aron/core/Path.cpp
@@ -33,7 +33,6 @@ namespace armarx::aron
rootIdentifier("_ARON"),
delimeter("->")
{
-
}
Path::Path(const std::vector<std::string>& p) :
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.cpp b/source/RobotAPI/libraries/aron/core/aron_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..add7a1803ea32fea1bd807406d2934649034c2af
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.cpp
@@ -0,0 +1,6 @@
+#include "aron_conversions.h"
+
+namespace armarx::aron
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.h b/source/RobotAPI/libraries/aron/core/aron_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..d0f88cab840be59b86bbeb22d7229afb9f9f0b48
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.h
@@ -0,0 +1,387 @@
+#pragma once
+
+#include <map>
+#include <memory>
+#include <optional>
+#include <vector>
+
+#include "Path.h"
+
+namespace armarx::aron
+{
+ /**
+ * Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs
+ * (Business Objects) and back.
+ *
+ * To allow conversion between custom ARON and C++ types, declare two
+ * functions in the namespace of the BO:
+ *
+ * @code
+ * // aron_conversions.h
+ *
+ * namespace bo_namespace
+ * {
+ * void toAron(arondto::MyObject& dto, const MyObject& bo);
+ * void fromAron(const arondto::MyObject& dto, MyObject& bo);
+ * }
+ * @endcode
+ *
+ * Note that the DTO always comes first, and the target object is
+ * non-const.
+ *
+ * In the implementation,
+ *
+ *
+ * @code
+ * // aron_conversions.cpp
+ *
+ * #include "aron_conversions.h"
+ * #include <Path/to/MyValue/aron_conversions.h>
+ *
+ * void bo_namespace::toAron(arondto::MyObject& dto, const MyObject& bo)
+ * {
+ * dto.name = bo.name;
+ * toAron(dto.myValue, bo.myValue);
+ * }
+ *
+ * void bo_namespace::fromAron(const arondto::MyObject& dto, MyObject& bo)
+ * {
+ * bo.name = dto.name;
+ * fromAron(dto.myValue, bo.myValue);
+ * }
+ * @endcode
+ */
+
+ // Helper concept to avoid ambiguities
+ template<typename DtoT, typename BoT>
+ concept DtoAndBoAreSame = std::is_same<DtoT, BoT>::value;
+
+
+ // Same type
+ template <class T>
+ void toAron(T& dto, const T& bo)
+ {
+ dto = bo;
+ }
+ template <class T>
+ void fromAron(const T& dto, T& bo)
+ {
+ bo = dto;
+ }
+
+
+ // Generic return version
+ template <class DtoT, class BoT>
+ DtoT toAron(const BoT& bo)
+ {
+ DtoT dto;
+ toAron(dto, bo);
+ return dto;
+ }
+ template <class BoT, class DtoT>
+ BoT fromAron(const DtoT& dto)
+ {
+ BoT bo;
+ fromAron(dto, bo);
+ return bo;
+ }
+
+
+
+
+
+
+
+ // std::unique_ptr
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
+ {
+ if (bo)
+ {
+ toAron(dto, *bo);
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
+ {
+ bo = std::make_unique<BoT>();
+ fromAron(dto, *bo);
+ }
+
+
+ // std::optional
+ template <class DtoT, class BoT>
+ void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
+ {
+ if (bo.has_value())
+ {
+ dto = DtoT{};
+ toAron(*dto, *bo);
+ }
+ else
+ {
+ dto = std::nullopt;
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
+ {
+ if (dto.has_value())
+ {
+ bo = BoT{};
+ fromAron(*dto, *bo);
+ }
+ else
+ {
+ bo = std::nullopt;
+ }
+ }
+
+ // Flag-controlled optional
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
+ {
+ dtoValid = boValid;
+ if (boValid)
+ {
+ toAron(dto, bo);
+ }
+ else
+ {
+ dto = {};
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
+ {
+ boValid = dtoValid;
+ if (dtoValid)
+ {
+ fromAron(dto, bo);
+ }
+ else
+ {
+ bo = {};
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
+ {
+ dtoValid = bo.has_value();
+ if (dtoValid)
+ {
+ toAron(dto, *bo);
+ }
+ else
+ {
+ dto = {};
+ }
+ }
+
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
+ {
+ if (dtoValid)
+ {
+ bo = BoT{};
+ fromAron(dto, *bo);
+ }
+ else
+ {
+ bo = std::nullopt;
+ }
+ }
+
+
+ // std::vector
+ template <class DtoT, class BoT>
+ void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
+ {
+ dtos.clear();
+ dtos.reserve(bos.size());
+ for (const auto& bo : bos)
+ {
+ toAron(dtos.emplace_back(), bo);
+ }
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
+ {
+ bos.clear();
+ bos.reserve(dtos.size());
+ for (const auto& dto : dtos)
+ {
+ fromAron(dto, bos.emplace_back());
+ }
+ }
+
+
+ // std::map
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap,
+ const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ dtoMap.clear();
+ for (const auto& [boKey, boValue] : boMap)
+ {
+ DtoKeyT dtoKey;
+ toAron(dtoKey, boKey);
+ auto [it, _] = dtoMap.emplace(std::move(dtoKey), DtoValueT{});
+ toAron(it->second, boValue);
+ }
+ }
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap,
+ std::map<BoKeyT, BoValueT>& boMap)
+ {
+ boMap.clear();
+ for (const auto& [dtoKey, dtoValue] : dtoMap)
+ {
+ BoKeyT boKey;
+ fromAron(dtoKey, boKey);
+ auto [it, _] = boMap.emplace(boKey, BoValueT{});
+ fromAron(dtoValue, it->second);
+ }
+ }
+
+
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(DtoAndBoAreSame<DtoKeyT, BoKeyT> and DtoAndBoAreSame<DtoValueT, BoValueT>))
+ std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ std::map<DtoKeyT, DtoValueT> dtoMap;
+ toAron(dtoMap, boMap);
+ return dtoMap;
+ }
+}
+
+
+
+
+
+// And do the same for the armarx namespace to ensure consistency with all the other aron_conversions declaraions
+// (which are usually in the armarx namespace)
+namespace armarx
+{
+ // Same type
+ template <class T>
+ void toAron(T& dto, const T& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class T>
+ void fromAron(const T& dto, T& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+
+ // Generic return version
+ template <class DtoT, class BoT>
+ DtoT toAron(const BoT& bo)
+ {
+ return armarx::aron::toAron<DtoT, BoT>(bo);
+ }
+ template <class BoT, class DtoT>
+ BoT fromAron(const DtoT& dto)
+ {
+ return armarx::aron::fromAron<BoT, DtoT>(dto);
+ }
+
+ // std::unique_ptr
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, const std::unique_ptr<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, std::unique_ptr<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+ // std::optional
+ template <class DtoT, class BoT>
+ void toAron(std::optional<DtoT>& dto, const std::optional<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const std::optional<DtoT>& dto, std::optional<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, bo);
+ }
+
+ // Flag-controlled optional
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const BoT& bo, bool boValid)
+ {
+ armarx::aron::toAron(dto, dtoValid, bo, boValid);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, BoT& bo, bool& boValid)
+ {
+ armarx::aron::fromAron(dto, dtoValid, bo, boValid);
+ }
+
+ template <class DtoT, class BoT>
+ void toAron(DtoT& dto, bool& dtoValid, const std::optional<BoT>& bo)
+ {
+ armarx::aron::toAron(dto, dtoValid, bo);
+ }
+ template <class DtoT, class BoT>
+ void fromAron(const DtoT& dto, bool dtoValid, std::optional<BoT>& bo)
+ {
+ armarx::aron::fromAron(dto, dtoValid, bo);
+ }
+
+ // std::vector
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ void toAron(std::vector<DtoT>& dtos, const std::vector<BoT>& bos)
+ {
+ armarx::aron::toAron(dtos, bos);
+ }
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ void fromAron(const std::vector<DtoT>& dtos, std::vector<BoT>& bos)
+ {
+ armarx::aron::fromAron(dtos, bos);
+ }
+
+ template <class DtoT, class BoT>
+ requires (!aron::DtoAndBoAreSame<DtoT, BoT>)
+ std::vector<DtoT> toAron(const std::vector<BoT>& bos)
+ {
+ return armarx::aron::toAron<DtoT, BoT>(bos);
+ }
+
+
+ // std::map
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void toAron(std::map<DtoKeyT, DtoValueT>& dtoMap, const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::toAron(dtoMap, boMap);
+ }
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ void fromAron(const std::map<DtoKeyT, DtoValueT>& dtoMap, std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::fromAron(dtoMap, boMap);
+ }
+
+
+ template <class DtoKeyT, class DtoValueT, class BoKeyT, class BoValueT>
+ requires (!(aron::DtoAndBoAreSame<DtoKeyT, BoKeyT> and aron::DtoAndBoAreSame<DtoValueT, BoValueT>))
+ std::map<DtoKeyT, DtoValueT> toAron(const std::map<BoKeyT, BoValueT>& boMap)
+ {
+ armarx::aron::toAron<DtoKeyT, DtoValueT, BoKeyT, BoValueT>(boMap);
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h
rename to source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
index eb4d5da66badb3756d234754290bd00b1bbb759d..552c653a9bb983f1066a7ef87737fa69377c8a8a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
@@ -26,19 +26,24 @@
// STD/STL
#include <memory>
#include <string>
+#include <vector>
+#include <map>
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/rw/Reader.h>
#include <RobotAPI/libraries/aron/core/data/rw/Writer.h>
#include <RobotAPI/libraries/aron/core/type/rw/Writer.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+// ARON
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/aron_conversions.h>
+#include <RobotAPI/libraries/aron/core/rw.h>
-namespace armarx::aron::codegenerator::cpp
+namespace armarx::aron::cpp
{
class AronGeneratedClass
{
@@ -47,12 +52,17 @@ namespace armarx::aron::codegenerator::cpp
virtual ~AronGeneratedClass() = default;
/// Reset all member values of this class to default (as stated in the XML). This may mean that maybe types are null or false and images may be created as headers_only
- virtual void resetHard() = 0;
+ virtual void resetHard() {};
/// Reset all member values of this class softly, meaning if a maybe type has a value, we reset only the value (not the full maybe type) and if an image has data (width, height) we keep the data and width and height and only reset teh pixel values
- virtual void resetSoft() = 0;
+ virtual void resetSoft() {};
};
template <class T>
concept isAronGeneratedClass = std::is_base_of<AronGeneratedClass, T>::value;
}
+
+namespace armarx::aron::codegenerator::cpp
+{
+ using AronGeneratedClass = aron::cpp::AronGeneratedClass;
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp
deleted file mode 100644
index d3e9264f9a8da5a43d83093bcc3411f65c4a1a1b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Factory.cpp
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * 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
- */
-
-// STD/STL
-
-// Header
-#include "Factory.h"
-
-// ArmarX
-#include "All.h"
-#include "enum/All.h"
-
-namespace armarx::aron::codegenerator::cpp
-{
- // Access method
- std::unique_ptr<Generator> GeneratorFactory::create(const type::Variant& n, const Path& path) const
- {
- auto desc = n.getDescriptor();
- switch(desc)
- {
- case type::Descriptor::eList: return std::make_unique<generator::List>(dynamic_cast<const type::List&>(n));
- case type::Descriptor::eDict: return std::make_unique<generator::Dict>(dynamic_cast<const type::Dict&>(n));
- case type::Descriptor::eObject: return std::make_unique<generator::Object>(dynamic_cast<const type::Object&>(n));
- case type::Descriptor::eTuple: return std::make_unique<generator::Tuple>(dynamic_cast<const type::Tuple&>(n));
- case type::Descriptor::ePair: return std::make_unique<generator::Pair>(dynamic_cast<const type::Pair&>(n));
- case type::Descriptor::eNDArray: return std::make_unique<generator::NDArray>(dynamic_cast<const type::NDArray&>(n));
- case type::Descriptor::eMatrix: return std::make_unique<generator::Matrix>(dynamic_cast<const type::Matrix&>(n));
- case type::Descriptor::eQuaternion: return std::make_unique<generator::Quaternion>(dynamic_cast<const type::Quaternion&>(n));
- case type::Descriptor::eImage: return std::make_unique<generator::Image>(dynamic_cast<const type::Image&>(n));
- case type::Descriptor::ePointCloud: return std::make_unique<generator::PointCloud>(dynamic_cast<const type::PointCloud&>(n));
- case type::Descriptor::ePosition: return std::make_unique<generator::Position>(dynamic_cast<const type::Position&>(n));
- case type::Descriptor::eOrientation: return std::make_unique<generator::Orientation>(dynamic_cast<const type::Orientation&>(n));
- case type::Descriptor::ePose: return std::make_unique<generator::Pose>(dynamic_cast<const type::Pose&>(n));
- case type::Descriptor::eIntEnum: return std::make_unique<generator::IntEnum>(dynamic_cast<const type::IntEnum&>(n));
- case type::Descriptor::eInt: return std::make_unique<generator::Int>(dynamic_cast<const type::Int&>(n));
- case type::Descriptor::eLong: return std::make_unique<generator::Long>(dynamic_cast<const type::Long&>(n));
- case type::Descriptor::eFloat: return std::make_unique<generator::Float>(dynamic_cast<const type::Float&>(n));
- case type::Descriptor::eDouble: return std::make_unique<generator::Double>(dynamic_cast<const type::Double&>(n));
- case type::Descriptor::eString: return std::make_unique<generator::String>(dynamic_cast<const type::String&>(n));
- case type::Descriptor::eBool: return std::make_unique<generator::Bool>(dynamic_cast<const type::Bool&>(n));
- case type::Descriptor::eTime: return std::make_unique<generator::Time>(dynamic_cast<const type::Time&>(n));
- case type::Descriptor::eAnyObject: return std::make_unique<generator::AnyObject>(dynamic_cast<const type::AnyObject&>(n));
- default: throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Cannot create a generator", std::to_string((int) desc), path);;
- }
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp
deleted file mode 100644
index 3b44ac06d99290b2e91605194c1fcce2b741f769..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Object.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Object.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- // constructors
- Object::Object(const type::Object& e) :
- detail::ContainerGenerator<type::Object, Object>(
- e.getObjectNameWithTemplateInstantiations(),
- e.getObjectNameWithTemplates(),
- simox::meta::get_type_name<data::dto::Dict>(),
- simox::meta::get_type_name<type::dto::AronObject>(), e)
- {
- }
-
-
- CppBlockPtr Object::getResetSoftBlock(const std::string& cppAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + nextEl() + "resetSoft();");
- return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Object::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- std::vector<std::string> templatesQuoted;
- for (const auto& t : type.getTemplateInstantiations())
- {
- templatesQuoted.push_back("\"" + t + "\"");
- }
-
- b->addLine("auto " + variantAccessor + " = " + getInstantiatedCppTypename() + "::writeType(" + ARON_WRITER_ACCESSOR + ", " +
- "{" + simox::alg::join(templatesQuoted, ", ") + "}, " +
- conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return b;
- }
-
- CppBlockPtr Object::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + cppAccessor + nextEl() + "write(" + ARON_WRITER_ACCESSOR + ", "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Object::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- if (const auto reset = resolveMaybeGenerator(cppAccessor); !reset.empty())
- {
- block_if_data->addLine(reset);
- }
- block_if_data->addLine(cppAccessor + nextEl() + "read(" + ARON_READER_ACCESSOR + ", " + variantAccessor + "); // of " + cppAccessor);
- return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
deleted file mode 100644
index 8e02a66ef0126e6b56ea454bee530f544b5724a9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/AnyGenerator.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
- * 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 "SpecializedGenerator.h"
-
-#include <string>
-
-
-namespace armarx::aron::codegenerator::cpp::generator::detail
-{
- template<typename typeT, typename DerivedT>
- class AnyGenerator :
- public SpecializedGeneratorBase<typeT, DerivedT>
- {
- public:
- using SpecializedGeneratorBase<typeT, DerivedT>::SpecializedGeneratorBase;
- virtual ~AnyGenerator() = default;
-
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const override
- {
- auto block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
- variantAccessor = Generator::ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = armarx::aron::data::readAndWrite<armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
- return block_if_data;
- }
-
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override
- {
- auto block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
-
- block_if_data->addLine(cppAccessor + " = armarx::aron::data::Dict::DynamicCastAndCheck(armarx::aron::data::readAndWrite<aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
- return block_if_data;
- }
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.cpp
deleted file mode 100644
index e8c5dfc5511e9c98456849b9b39f6f513eba6ad5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Orientation.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- // constructors
- Orientation::Orientation(const type::Orientation& n) :
- detail::NDArrayGenerator<type::Orientation, Orientation>(
- "Eigen::Quaternion<float>",
- "Eigen::Quaternion<float>",
- simox::meta::get_type_name<data::dto::NDArray>(),
- simox::meta::get_type_name<type::dto::Orientation>(), n)
- {
- }
-
- CppBlockPtr Orientation::getResetSoftBlock(const std::string& cppAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + nextEl() + "setIdentity();");
- return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Orientation::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeOrientation(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return b;
- }
-
- CppBlockPtr Orientation::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({1, 4, 4}, "+
- "\"float\", "+
- "reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "coeffs().data()), "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
-
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Orientation::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string type = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_typeAsString";
- std::string dims = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_shape";
- std::string data = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_data";
-
- block_if_data->addLine("std::string " + type + ";");
- block_if_data->addLine("std::vector<int> " + dims + ";");
- block_if_data->addLine("std::vector<unsigned char> " + data + ";");
- block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
- block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "coeffs().data()), "+data+".data(), "+data+".size());");
- return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
- }
-
- CppBlockPtr Orientation::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- block_if_data->addLineAsBlock("return false;");
- return resolveMaybeEqualsBlock(block_if_data, accessor, otherInstanceAccessor);
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.h
deleted file mode 100644
index e2c48cba179f025aa1fa3fd60f56fd8cda3a6463..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Orientation.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * 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 <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- class Orientation :
- public detail::NDArrayGenerator<type::Orientation, Orientation>
- {
- public:
-
- // constructors
- Orientation(const type::Orientation&);
- virtual ~Orientation() = default;
-
- // virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string&) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const override;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.cpp
deleted file mode 100644
index ce130c44a419007390bd1ae6bde5e66b5518af3f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Pose.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- // constructors
- Pose::Pose(const type::Pose& n) :
- detail::NDArrayGenerator<type::Pose, Pose>(
- "Eigen::Matrix<float, 4, 4>",
- "Eigen::Matrix<float, 4, 4>",
- simox::meta::get_type_name<data::dto::NDArray>(),
- simox::meta::get_type_name<type::dto::Pose>(),
- n)
- {
- }
-
- CppBlockPtr Pose::getResetSoftBlock(const std::string& cppAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + nextEl() + "setIdentity();");
- return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Pose::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePose(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return b;
- }
-
- CppBlockPtr Pose::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({4, 4, 4}, "+
- "\"float\", "+
- "reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
-
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Pose::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string type = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_typeAsString";
- std::string dims = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_shape";
- std::string data = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_data";
-
- block_if_data->addLine("std::string " + type + ";");
- block_if_data->addLine("std::vector<int> " + dims + ";");
- block_if_data->addLine("std::vector<unsigned char> " + data + ";");
- block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
- block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "data()), "+data+".data(), "+data+".size());");
- return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
- }
-
- CppBlockPtr Pose::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string other_instance_resolved_accessor = this->resolveMaybeAccessor(otherInstanceAccessor);
-
- block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + other_instance_resolved_accessor + ")))");
- block_if_data->addLineAsBlock("return false;");
- return resolveMaybeEqualsBlock(block_if_data, accessor, otherInstanceAccessor);
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.h
deleted file mode 100644
index 1cc292cf7cccbf2e980ef13102fb6b9cb2b78441..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Pose.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * 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 <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- class Pose :
- public detail::NDArrayGenerator<type::Pose, Pose>
- {
- public:
- // constructors
- Pose(const type::Pose&);
- virtual ~Pose() = default;
-
- // virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const override;
-
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.cpp
deleted file mode 100644
index eec0330ebd5783b4623f309728b30be2b1ee7da3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Position.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- // constructors
- Position::Position(const type::Position& n) :
- detail::NDArrayGenerator<type::Position, Position>(
- "Eigen::Matrix<float, 3, 1>",
- "Eigen::Matrix<float, 3, 1>",
- simox::meta::get_type_name<data::dto::NDArray>(),
- simox::meta::get_type_name<type::dto::Position>(),
- n)
- {
- }
-
- CppBlockPtr Position::getResetSoftBlock(const std::string& cppAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine(cppAccessor + nextEl() + "setZero();");
- return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Position::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePosition(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
- return b;
- }
-
- CppBlockPtr Position::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({3, 1, 4}, "+
- "\"float\", "+
- "reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
-
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Position::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string type = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_typeAsString";
- std::string dims = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_shape";
- std::string data = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor + "_data";
-
- block_if_data->addLine("std::string " + type + ";");
- block_if_data->addLine("std::vector<int> " + dims + ";");
- block_if_data->addLine("std::vector<unsigned char> " + data + ";");
- block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
- block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "data()), "+data+".data(), "+data+".size());");
- return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
- }
-
- CppBlockPtr Position::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string other_instance_resolved_accessor = this->resolveMaybeAccessor(otherInstanceAccessor);
- block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + other_instance_resolved_accessor + ")))");
- block_if_data->addLineAsBlock("return false;");
- return resolveMaybeEqualsBlock(block_if_data, accessor, otherInstanceAccessor);
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.h
deleted file mode 100644
index f0c12560b01e85ca5be736bd559054bf2b46a310..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Position.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * 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 <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/NDArrayGenerator.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- class Position :
- public detail::NDArrayGenerator<type::Position, Position>
- {
- public:
- // constructors
- Position(const type::Position&);
- virtual ~Position() = default;
-
- // virtual implementations
- CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const override;
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- CppBlockPtr getEqualsBlock(const std::string& cppAccessor, const std::string&) const override;
-
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.cpp
deleted file mode 100644
index becc4f2d2f4d640f0ce54c447c0303c42b01d5a1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- * 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
- */
-
-#include "Time.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- /* constructors */
- Time::Time(const type::Time& e) :
- detail::PrimitiveGenerator<type::Time, Time>(
- "IceUtil::Time",
- "IceUtil::Time",
- simox::meta::get_type_name<data::dto::AronLong>(),
- simox::meta::get_type_name<type::dto::AronTime>(),
- e)
- {
- }
-
- /* virtual implementations */
- CppBlockPtr Time::getWriteTypeBlock(const std::string& typeAccessor, const std::string& accessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr b = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(accessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeTime(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + typeAccessor);
- return b;
- }
-
- CppBlockPtr Time::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-
- block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writePrimitive(" + cppAccessor + nextEl() + "toMicroSeconds(), "+
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
-
- return resolveMaybeWriteBlock(block_if_data, cppAccessor);
- }
-
- CppBlockPtr Time::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
- {
- CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- std::string escaped_accessor = EscapeAccessor(cppAccessor);
- std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
- std::string tmp = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_timeTmp";
-
- block_if_data->addLine("long " + tmp + ";");
- block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readPrimitive("+variantAccessor+", " + tmp + "); // of " + cppAccessor);
- block_if_data->addLine(resolved_accessor + " = IceUtil::Time::microSeconds(" + tmp + ");");
- return resolveMaybeReadBlock(block_if_data, cppAccessor, cppAccessor);
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.h b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.h
deleted file mode 100644
index 00a0fe530a715fe032ba70b24495819e2363e80d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/primitive/Time.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * 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 <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/detail/PrimitiveGenerator.h>
-#include <RobotAPI/libraries/aron/core/type/variant/primitive/Time.h>
-
-
-namespace armarx::aron::codegenerator::cpp::generator
-{
- class Time :
- public detail::PrimitiveGenerator<type::Time, Time>
- {
- public:
- /* constructors */
- Time(const type::Time& e);
- virtual ~Time() = default;
-
- /* virtual implementations */
- CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getWriteBlock(const std::string& cppAccessor, const Path&, std::string& variantAccessor) const override;
- CppBlockPtr getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const override;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
index 5972d3bfef55a9ef07c662630b7bb080b8ea7054..0195adddd9bb2f6cc116158af22b4a4a936e6da4 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
@@ -29,6 +29,9 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
+// Known types
+#include <ArmarXCore/core/time/forward_declarations.h>
+
namespace armarx::aron::data
{
template <class R>
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h b/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
index 0506a13262efc971870fc444ba3b40dd18a4d5f3..c9348cf61aec6ec5ddf17db09245af5c1a4330b6 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/json/Data.h
@@ -60,74 +60,74 @@ namespace armarx::aron::data::rw::json
namespace conversion
{
const std::map<data::Descriptor, std::string> Descriptor2String = {
- {data::Descriptor::eDict, rw::json::constantes::DICT_TYPENAME_SLUG},
- {data::Descriptor::eList, rw::json::constantes::LIST_TYPENAME_SLUG},
- {data::Descriptor::eNDArray, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
- {data::Descriptor::eInt, rw::json::constantes::INT_TYPENAME_SLUG},
- {data::Descriptor::eLong, rw::json::constantes::LONG_TYPENAME_SLUG},
- {data::Descriptor::eFloat, rw::json::constantes::FLOAT_TYPENAME_SLUG},
- {data::Descriptor::eDouble, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
- {data::Descriptor::eBool, rw::json::constantes::BOOL_TYPENAME_SLUG},
- {data::Descriptor::eString, rw::json::constantes::STRING_TYPENAME_SLUG}
+ {data::Descriptor::DICT, rw::json::constantes::DICT_TYPENAME_SLUG},
+ {data::Descriptor::LIST, rw::json::constantes::LIST_TYPENAME_SLUG},
+ {data::Descriptor::NDARRAY, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
+ {data::Descriptor::INT, rw::json::constantes::INT_TYPENAME_SLUG},
+ {data::Descriptor::LONG, rw::json::constantes::LONG_TYPENAME_SLUG},
+ {data::Descriptor::FLOAT, rw::json::constantes::FLOAT_TYPENAME_SLUG},
+ {data::Descriptor::DOUBLE, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
+ {data::Descriptor::BOOL, rw::json::constantes::BOOL_TYPENAME_SLUG},
+ {data::Descriptor::STRING, rw::json::constantes::STRING_TYPENAME_SLUG}
};
const auto String2Descriptor = aron::conversion::util::InvertMap(Descriptor2String);
const std::map<type::Maybe, std::string> Maybe2String =
{
- {type::Maybe::eNone, "type::maybe::none"},
- {type::Maybe::eOptional, "type::maybe::optional"},
- {type::Maybe::eRawPointer, "type::maybe::raw_ptr"},
- {type::Maybe::eSharedPointer, "type::maybe::shared_ptr"},
- {type::Maybe::eUniquePointer, "type::maybe::unique_ptr"}
+ {type::Maybe::NONE, "type::maybe::NONE"},
+ {type::Maybe::OPTIONAL, "type::maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "type::maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "type::maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "type::maybe::UNIQUE_PTR"}
};
const auto String2Maybe = aron::conversion::util::InvertMap(Maybe2String);
const std::map<type::ndarray::ElementType, std::string> NDArrayType2String =
{
- {type::ndarray::ElementType::int8, "type::ndarray::int8"},
- {type::ndarray::ElementType::int16, "type::ndarray::int16"},
- {type::ndarray::ElementType::int32, "type::ndarray::int32"},
- {type::ndarray::ElementType::uint8, "type::ndarray::uint8"},
- {type::ndarray::ElementType::uint16, "type::ndarray::uint16"},
- {type::ndarray::ElementType::uint32, "type::ndarray::uint32"},
- {type::ndarray::ElementType::float32, "type::ndarray::float32"},
- {type::ndarray::ElementType::float64, "type::ndarray::float64"}
+ {type::ndarray::ElementType::INT8, "type::ndarray::INT8"},
+ {type::ndarray::ElementType::INT16, "type::ndarray::INT16"},
+ {type::ndarray::ElementType::INT32, "type::ndarray::INT32"},
+ {type::ndarray::ElementType::UINT8, "type::ndarray::UINT8"},
+ {type::ndarray::ElementType::UINT16, "type::ndarray::UINT16"},
+ {type::ndarray::ElementType::UINT32, "type::ndarray::UINT32"},
+ {type::ndarray::ElementType::FLOAT32, "type::ndarray::FLOAT32"},
+ {type::ndarray::ElementType::FLOAT64, "type::ndarray::FLOAT64"}
};
const auto String2NDArrayType = aron::conversion::util::InvertMap(NDArrayType2String);
const std::map<type::matrix::ElementType, std::string> MatrixType2String =
{
- {type::matrix::ElementType::int16, "type::matrix::int16"},
- {type::matrix::ElementType::int32, "type::matrix::int32"},
- {type::matrix::ElementType::int64, "type::matrix::int64"},
- {type::matrix::ElementType::float32, "type::matrix::float32"},
- {type::matrix::ElementType::float64, "type::matrix::float64"}
+ {type::matrix::ElementType::INT16, "type::matrix::INT16"},
+ {type::matrix::ElementType::INT32, "type::matrix::INT32"},
+ {type::matrix::ElementType::INT64, "type::matrix::INT64"},
+ {type::matrix::ElementType::FLOAT32, "type::matrix::FLOAT32"},
+ {type::matrix::ElementType::FLOAT64, "type::matrix::FLOAT64"}
};
const auto String2MatrixType = aron::conversion::util::InvertMap(MatrixType2String);
const std::map<type::quaternion::ElementType, std::string> QuaternionType2String =
{
- {type::quaternion::ElementType::float32, "type::quaternion::float32"},
- {type::quaternion::ElementType::float64, "type::quaternion::float64"}
+ {type::quaternion::ElementType::FLOAT32, "type::quaternion::FLOAT32"},
+ {type::quaternion::ElementType::FLOAT64, "type::quaternion::FLOAT64"}
};
const auto String2QuaternionType = aron::conversion::util::InvertMap(QuaternionType2String);
const std::map<type::image::PixelType, std::string> PixelType2String =
{
- {type::image::PixelType::rgb24, "type::image::rgb24"},
- {type::image::PixelType::depth32, "type::image::depth32"}
+ {type::image::PixelType::RGB24, "type::image::RGB24"},
+ {type::image::PixelType::DEPTH32, "type::image::DEPTH32"}
};
const auto String2PixelType = aron::conversion::util::InvertMap(PixelType2String);
const std::map<type::pointcloud::VoxelType, std::string> VoxelType2String =
{
- {type::pointcloud::VoxelType::PointXYZ, "type::pointcloud::pointxyz"},
- {type::pointcloud::VoxelType::PointXYZI, "type::pointcloud::pointxyzi"},
- {type::pointcloud::VoxelType::PointXYZL, "type::pointcloud::pointxyzl"},
- {type::pointcloud::VoxelType::PointXYZRGB, "type::pointcloud::pointxyzrgb"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "type::pointcloud::pointxyzrgba"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "type::pointcloud::pointxyzrgbl"},
- {type::pointcloud::VoxelType::PointXYZHSV, "type::pointcloud::pointxyzhsv"}
+ {type::pointcloud::VoxelType::POINT_XYZ, "type::pointcloud::POINT_XYZ"},
+ {type::pointcloud::VoxelType::POINT_XYZI, "type::pointcloud::POINT_XYZI"},
+ {type::pointcloud::VoxelType::POINT_XYZL, "type::pointcloud::POINT_XYZL"},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, "type::pointcloud::POINT_XYZRGB"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, "type::pointcloud::POINT_XYZRGBA"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, "type::pointcloud::POINT_XYZRGBL"},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, "type::pointcloud::POINT_XYZHSV"}
};
const auto String2VoxelType = aron::conversion::util::InvertMap(VoxelType2String);
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
index c228a449d39e10ff712942311f4181f6281461f9..f458e3d9973bf34dd2dc13e49b5f505db4e403e4 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
@@ -44,16 +44,16 @@ namespace armarx::aron::data
auto descriptor = data::Aron2Descriptor(*aron);
switch(descriptor)
{
- case data::Descriptor::eList: return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
- case data::Descriptor::eDict: return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
- case data::Descriptor::eNDArray: return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron), path);
- case data::Descriptor::eInt: return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
- case data::Descriptor::eLong: return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron), path);
- case data::Descriptor::eFloat: return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron), path);
- case data::Descriptor::eDouble: return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron), path);
- case data::Descriptor::eString: return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron), path);
- case data::Descriptor::eBool: return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron), path);
- case data::Descriptor::eUnknown: break;
+ case data::Descriptor::LIST: return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
+ case data::Descriptor::DICT: return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
+ case data::Descriptor::NDARRAY: return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron), path);
+ case data::Descriptor::INT: return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
+ case data::Descriptor::LONG: return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron), path);
+ case data::Descriptor::FLOAT: return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron), path);
+ case data::Descriptor::DOUBLE: return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron), path);
+ case data::Descriptor::STRING: return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron), path);
+ case data::Descriptor::BOOL: return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron), path);
+ case data::Descriptor::UNKNOWN: break;
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "", std::to_string((int) descriptor), path);
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
index fd840a80dfb192ad017fa481a2a167fc9cd872a2..111068b393c86b681179544c4d60fd02953f3f36 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
@@ -29,25 +29,19 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/data/variant/Factory.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h>
-#include <RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h>
+#include <RobotAPI/libraries/aron/core/type/variant/ndarray/All.h>
namespace armarx::aron::data
{
// constructors
NDArray::NDArray(const Path& path) :
- detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(data::Descriptor::eNDArray, path)
+ detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(data::Descriptor::NDARRAY, path)
{
}
NDArray::NDArray(const data::dto::NDArrayPtr& o, const Path& path) :
- detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(o, data::Descriptor::eNDArray, path)
+ detail::ComplexVariant<data::dto::NDArray, NDArray>::ComplexVariant(o, data::Descriptor::NDARRAY, path)
{
}
@@ -182,42 +176,27 @@ namespace armarx::aron::data
type::Descriptor typeDesc = type->getDescriptor();
switch (typeDesc)
{
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
{
auto casted = type::Matrix::DynamicCastAndCheck(type);
- return (aron->shape.size() == 3 && (unsigned int) aron->shape[0] == casted->getRows() && (unsigned int) aron->shape[1] == casted->getCols());
+ return (aron->shape.size() == 3 && aron->shape[0] == casted->getRows() && aron->shape[1] == casted->getCols());
}
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
{
auto casted = type::Quaternion::DynamicCastAndCheck(type);
- return (aron->shape.size() == 3 && (unsigned int) aron->shape[0] == 1 && (unsigned int) aron->shape[1] == 4);
+ return (aron->shape.size() == 3 && aron->shape[0] == 1 && aron->shape[1] == 4);
}
- case type::Descriptor::ePosition:
- {
- auto casted = type::Position::DynamicCastAndCheck(type);
- return (aron->shape.size() == 3 && (unsigned int) aron->shape[0] == 3 && (unsigned int) aron->shape[1] == 1 && (unsigned int) aron->shape[1] == 4);
- }
- case type::Descriptor::eOrientation:
- {
- auto casted = type::Orientation::DynamicCastAndCheck(type);
- return (aron->shape.size() == 3 && (unsigned int) aron->shape[0] == 1 && (unsigned int) aron->shape[1] == 4 && (unsigned int) aron->shape[2] == 4);
- }
- case type::Descriptor::ePose:
- {
- auto casted = type::Pose::DynamicCastAndCheck(type);
- return (aron->shape.size() == 3 && (unsigned int) aron->shape[0] == 4 && (unsigned int) aron->shape[1] == 4 && (unsigned int) aron->shape[2] == 4);
- }
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
{
auto casted = type::PointCloud::DynamicCastAndCheck(type);
return (aron->shape.size() == 3);
}
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
{
auto casted = type::Image::DynamicCastAndCheck(type);
return (aron->shape.size() == 3);
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
{
auto casted = type::NDArray::DynamicCastAndCheck(type);
return (aron->shape.size() == (unsigned int) casted->getNumberDimensions());
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index 12b402fd0cb2d33cb3b3314ee7c9fa373f1128ff..478c6a2c80a4984fcc4fb19ee9dba611eb384af9 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -34,12 +34,12 @@ namespace armarx::aron::data
// constructors
Dict::Dict(const Path& path) :
- detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(data::Descriptor::eDict, path)
+ detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(data::Descriptor::DICT, path)
{
}
Dict::Dict(const data::dto::DictPtr& o, const Path& path) :
- detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(o, data::Descriptor::eDict, path)
+ detail::ContainerVariant<data::dto::Dict, Dict>::ContainerVariant(o, data::Descriptor::DICT, path)
{
for (const auto& [key, dataPtr] : this->aron->elements)
{
@@ -214,7 +214,7 @@ namespace armarx::aron::data
switch (typeDesc)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
auto objectTypeNav = type::Object::DynamicCastAndCheck(type);
for (const auto& [key, nav] : childrenNavigators)
@@ -234,7 +234,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
auto dictTypeNav = type::Dict::DynamicCastAndCheck(type);
for (const auto& [key, nav] : childrenNavigators)
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index 6087ddfac5c8f91123376afa5fe7eb2c60010cf8..498e59ee2a058ffe61676ed5ff8cfe75fcf7cc30 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -34,6 +34,7 @@
// ArmarX
#include "../../../type/variant/container/Dict.h"
#include "../../../type/variant/container/Object.h"
+#include "../../../type/variant/any/AnyObject.h"
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
index 74eb78a75c6a38bcee5008025596126ba1a2ce99..84bf1a2005b2d57f03065de58f65cf31870c8ea8 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
@@ -35,12 +35,12 @@ namespace armarx::aron::data
{
// constructors
List::List(const Path& path) :
- detail::ContainerVariant<data::dto::List, List>::ContainerVariant(data::Descriptor::eList, path)
+ detail::ContainerVariant<data::dto::List, List>::ContainerVariant(data::Descriptor::LIST, path)
{
}
List::List(const data::dto::ListPtr& l, const Path& path) :
- detail::ContainerVariant<data::dto::List, List>::ContainerVariant(l, data::Descriptor::eList, path)
+ detail::ContainerVariant<data::dto::List, List>::ContainerVariant(l, data::Descriptor::LIST, path)
{
unsigned int i = 0;
for (const auto& dataPtr : l->elements)
@@ -216,7 +216,7 @@ namespace armarx::aron::data
type::Descriptor typeDesc = type->getDescriptor();
switch (typeDesc)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
auto listTypeNav = type::List::DynamicCastAndCheck(type);
for (const auto& nav : childrenNavigators)
@@ -232,7 +232,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
auto tupleTypeNav = type::Tuple::DynamicCastAndCheck(type);
unsigned int i = 0;
@@ -249,7 +249,7 @@ namespace armarx::aron::data
}
return true;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
auto pairTypeNav = type::Pair::DynamicCastAndCheck(type);
if (childrenSize() != 2)
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
index 8d83766b801bed2474a7f5e9e59385a634b439a2..4ac67da09aa6efe678ddcbebb00bff8a5f5ac02c 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
@@ -113,8 +113,10 @@ namespace armarx::aron::data::detail
return nullptr;
}
- auto casted = DerivedT::DynamicCast(n);
- ARMARX_CHECK_NOT_NULL(casted);
+ PointerType casted = DerivedT::DynamicCast(n);
+ ARMARX_CHECK_NOT_NULL(casted) << "The path was: " << n->getPath().toString() << ".\n"
+ << "It has the descriptor: '" << data::defaultconversion::string::Descriptor2String.at(n->getDescriptor()) << "'.\n"
+ << "And the typeid: " << typeid(n).name() << ". Tried to cast to " << typeid(PointerType).name();
return casted;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
index 5b5cb2b0ed8cb7c3f5eb6f276723cbfadbc181da..0e68bbc6dc16c373dd63c4626a45f5b1377afad4 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
Bool::Bool(const data::dto::AronBoolPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(o, data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(o, data::Descriptor::BOOL, path)
{
}
Bool::Bool(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(data::Descriptor::BOOL, path)
{
}
Bool::Bool(const bool d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(d, data::Descriptor::eBool, path)
+ detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::PrimitiveVariant(d, data::Descriptor::BOOL, path)
{
}
@@ -111,7 +111,7 @@ namespace armarx::aron::data
bool Bool::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eBool;
+ return type->getDescriptor() == type::Descriptor::BOOL;
}
type::VariantPtr Bool::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
index 906afeeea30f14270097d70b1868517dac91acb3..87ea9eeacbabc0356f13476714860756424f457d 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
@@ -31,17 +31,17 @@ namespace armarx::aron::data
{
/* constructors */
Double::Double(const data::dto::AronDoublePtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(o, data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(o, data::Descriptor::DOUBLE, path)
{
}
Double::Double(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(data::Descriptor::DOUBLE, path)
{
}
Double::Double(const double d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(d, data::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::PrimitiveVariant(d, data::Descriptor::DOUBLE, path)
{
}
@@ -104,7 +104,7 @@ namespace armarx::aron::data
bool Double::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eDouble;
+ return type->getDescriptor() == type::Descriptor::DOUBLE;
}
type::VariantPtr Double::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
index 154591f68942d63e02139fd866e7013eaea3f69e..8dd7721c4adf5e5e0ec86b04325ea6971b8413ad 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
Float::Float(const data::dto::AronFloatPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(o, data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(o, data::Descriptor::FLOAT, path)
{
}
Float::Float(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(data::Descriptor::FLOAT, path)
{
}
Float::Float(const float d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(d, data::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::PrimitiveVariant(d, data::Descriptor::FLOAT, path)
{
}
@@ -101,7 +101,7 @@ namespace armarx::aron::data
bool Float::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eFloat;
+ return type->getDescriptor() == type::Descriptor::FLOAT;
}
type::VariantPtr Float::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
index 14299d05a3f687d58916c4498dc4f50d167dad3a..cc4d9dc2ec4285f3791e4f45752d578b6a304408 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
@@ -30,17 +30,17 @@ namespace armarx::aron::data
{
/* constructors */
Int::Int(const data::dto::AronIntPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(o, data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(o, data::Descriptor::INT, path)
{
}
Int::Int(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(data::Descriptor::INT, path)
{
}
Int::Int(const int d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(d, data::Descriptor::eInt, path)
+ detail::PrimitiveVariant<data::dto::AronInt, int, Int>::PrimitiveVariant(d, data::Descriptor::INT, path)
{
}
@@ -104,7 +104,7 @@ namespace armarx::aron::data
bool Int::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eInt || type->getDescriptor() == type::Descriptor::eIntEnum;
+ return type->getDescriptor() == type::Descriptor::INT || type->getDescriptor() == type::Descriptor::INT_ENUM;
}
type::VariantPtr Int::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
index c81aaa05054f3734c342a7c174d8c7f31407b9e4..6a271cdc821d275c8a9afec1b65f73436010ad2f 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
@@ -31,17 +31,17 @@ namespace armarx::aron::data
{
/* constructors */
Long::Long(const data::dto::AronLongPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(o, data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(o, data::Descriptor::LONG, path)
{
}
Long::Long(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(data::Descriptor::LONG, path)
{
}
Long::Long(const long d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(d, data::Descriptor::eLong, path)
+ detail::PrimitiveVariant<data::dto::AronLong, long, Long>::PrimitiveVariant(d, data::Descriptor::LONG, path)
{
}
@@ -105,7 +105,7 @@ namespace armarx::aron::data
bool Long::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eLong || type->getDescriptor() == type::Descriptor::eTime;
+ return type->getDescriptor() == type::Descriptor::LONG;
}
type::VariantPtr Long::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
index 0cbcbdb66efa8f6446831ac62617bbfd57119f9b..97e3496c6b984ededccbc19422ecad3b5c65f17b 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
@@ -31,7 +31,6 @@
// ArmarX
#include "../../../type/variant/primitive/Long.h"
-#include "../../../type/variant/primitive/Time.h"
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
index 0c4ec5bd375fcb0e74e7564bd5a9caecbb3b5109..6415245f36a08faf2b02364ff4a298d33a4c9ac9 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
@@ -27,17 +27,17 @@ namespace armarx::aron::data
{
/* constructors */
String::String(const data::dto::AronStringPtr& o, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(o, data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(o, data::Descriptor::STRING, path)
{
}
String::String(const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(data::Descriptor::STRING, path)
{
}
String::String(const std::string& d, const Path& path) :
- detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(d, data::Descriptor::eString, path)
+ detail::PrimitiveVariant<data::dto::AronString, std::string, String>::PrimitiveVariant(d, data::Descriptor::STRING, path)
{
}
@@ -101,7 +101,7 @@ namespace armarx::aron::data
bool String::fullfillsType(const type::VariantPtr& type) const
{
if (!type) return true;
- return type->getDescriptor() == type::Descriptor::eString;
+ return type->getDescriptor() == type::Descriptor::STRING;
}
type::VariantPtr String::recalculateType() const
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index 3701db91180cbfec19219806d99863add04225a8..60cb4be0ff236ae6369f1c53adb743e96a8e31da 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -98,9 +98,6 @@ namespace armarx::aron::data
virtual void visitMatrix(DataInput& elementData, TypeInput& elementType) {};
virtual void visitNDArray(DataInput& elementData, TypeInput& elementType) {};
virtual void visitQuaternion(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitOrientation(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPosition(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPose(DataInput& elementData, TypeInput& elementType) {};
virtual void visitImage(DataInput& elementData, TypeInput& elementType) {};
virtual void visitPointCloud(DataInput& elementData, TypeInput& elementType) {};
virtual void visitIntEnum(DataInput& elementData, TypeInput& elementType) {};
@@ -110,7 +107,6 @@ namespace armarx::aron::data
virtual void visitDouble(DataInput& elementData, TypeInput& elementType) {};
virtual void visitBool(DataInput& elementData, TypeInput& elementType) {};
virtual void visitString(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitTime(DataInput& elementData, TypeInput& elementType) {};
virtual void visitAnyObject(DataInput& elementData, TypeInput& elementType) {};
virtual void visitUnknown(DataInput& elementData, TypeInput& elementType) {
throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
@@ -134,7 +130,7 @@ namespace armarx::aron::data
data::Descriptor descriptor = v.getDescriptor(o);
switch (descriptor)
{
- case data::Descriptor::eList:
+ case data::Descriptor::LIST:
{
v.visitListOnEnter(o);
unsigned int i = 0;
@@ -146,7 +142,7 @@ namespace armarx::aron::data
v.visitListOnExit(o);
return;
}
- case data::Descriptor::eDict:
+ case data::Descriptor::DICT:
{
v.visitDictOnEnter(o);
for (auto& [key, value] : v.getDictElements(o))
@@ -156,21 +152,21 @@ namespace armarx::aron::data
v.visitDictOnExit(o);
return;
}
- case data::Descriptor::eNDArray:
+ case data::Descriptor::NDARRAY:
return v.visitNDArray(o);
- case data::Descriptor::eInt:
+ case data::Descriptor::INT:
return v.visitInt(o);
- case data::Descriptor::eLong:
+ case data::Descriptor::LONG:
return v.visitLong(o);
- case data::Descriptor::eFloat:
+ case data::Descriptor::FLOAT:
return v.visitFloat(o);
- case data::Descriptor::eDouble:
+ case data::Descriptor::DOUBLE:
return v.visitDouble(o);
- case data::Descriptor::eString:
+ case data::Descriptor::STRING:
return v.visitString(o);
- case data::Descriptor::eBool:
+ case data::Descriptor::BOOL:
return v.visitBool(o);
- case data::Descriptor::eUnknown:
+ case data::Descriptor::UNKNOWN:
return v.visitUnknown(o);
}
}
@@ -186,7 +182,7 @@ namespace armarx::aron::data
type::Descriptor descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
v.visitListOnEnter(o, t);
unsigned int i = 0;
@@ -198,7 +194,7 @@ namespace armarx::aron::data
v.visitListOnExit(o, t);
return;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
v.visitPairOnEnter(o, t);
auto pair = v.getPairElements(o, t);
@@ -209,7 +205,7 @@ namespace armarx::aron::data
v.visitPairOnExit(o, t);
return;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
v.visitTupleOnEnter(o, t);
unsigned int i = 0;
@@ -221,7 +217,7 @@ namespace armarx::aron::data
v.visitTupleOnExit(o, t);
return;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
v.visitDictOnEnter(o, t);
for (auto& [key, pair] : v.getDictElements(o, t))
@@ -231,7 +227,7 @@ namespace armarx::aron::data
v.visitDictOnExit(o, t);
return;
}
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
v.visitObjectOnEnter(o, t);
for (auto& [key, pair] : v.getObjectElements(o, t))
@@ -241,41 +237,33 @@ namespace armarx::aron::data
v.visitObjectOnExit(o, t);
return;
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(o, t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(o, t);
- case type::Descriptor::eOrientation:
- return v.visitOrientation(o, t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(o, t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(o, t);
- case type::Descriptor::ePosition:
- return v.visitPosition(o, t);
- case type::Descriptor::ePose:
- return v.visitPose(o, t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(o, t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(o, t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(o, t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(o, t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(o, t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(o, t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(o, t);
- case type::Descriptor::eTime:
- return v.visitTime(o, t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(o, t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(o, t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(o, t);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
index 3df87f620db7957d9da88056612ddc131169eca2..d7c62f104cbc3b97b9162b37b08d59cc3740f425 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
@@ -95,9 +95,6 @@ namespace armarx::aron::data
virtual void visitMatrix(DataInput&, TypeInput&) {};
virtual void visitNDArray(DataInput&, TypeInput&) {};
virtual void visitQuaternion(DataInput&, TypeInput&) {};
- virtual void visitOrientation(DataInput&, TypeInput&) {};
- virtual void visitPosition(DataInput&, TypeInput&) {};
- virtual void visitPose(DataInput&, TypeInput&) {};
virtual void visitImage(DataInput&, TypeInput&) {};
virtual void visitPointCloud(DataInput&, TypeInput&) {};
virtual void visitIntEnum(DataInput&, TypeInput&) {};
@@ -107,7 +104,6 @@ namespace armarx::aron::data
virtual void visitDouble(DataInput&, TypeInput&) {};
virtual void visitBool(DataInput&, TypeInput&) {};
virtual void visitString(DataInput&, TypeInput&) {};
- virtual void visitTime(DataInput&, TypeInput&) {};
virtual void visitAnyObject(DataInput&, TypeInput&) {};
virtual void visitUnknown(DataInput&, TypeInput&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~TypedVisitor() = default;
@@ -130,25 +126,25 @@ namespace armarx::aron::data
auto descriptor = v.getDescriptor(o);
switch (descriptor)
{
- case data::Descriptor::eList:
+ case data::Descriptor::LIST:
return v.visitList(o);
- case data::Descriptor::eDict:
+ case data::Descriptor::DICT:
return v.visitDict(o);
- case data::Descriptor::eNDArray:
+ case data::Descriptor::NDARRAY:
return v.visitNDArray(o);
- case data::Descriptor::eInt:
+ case data::Descriptor::INT:
return v.visitInt(o);
- case data::Descriptor::eLong:
+ case data::Descriptor::LONG:
return v.visitLong(o);
- case data::Descriptor::eFloat:
+ case data::Descriptor::FLOAT:
return v.visitFloat(o);
- case data::Descriptor::eDouble:
+ case data::Descriptor::DOUBLE:
return v.visitDouble(o);
- case data::Descriptor::eString:
+ case data::Descriptor::STRING:
return v.visitString(o);
- case data::Descriptor::eBool:
+ case data::Descriptor::BOOL:
return v.visitBool(o);
- case data::Descriptor::eUnknown:
+ case data::Descriptor::UNKNOWN:
return v.visitUnknown(o);
}
}
@@ -165,51 +161,43 @@ namespace armarx::aron::data
auto descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
return v.visitObject(o, t);
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
return v.visitList(o, t);
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
return v.visitDict(o, t);
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
return v.visitPair(o, t);
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
return v.visitTuple(o, t);
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(o, t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(o, t);
- case type::Descriptor::eOrientation:
- return v.visitOrientation(o, t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(o, t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(o, t);
- case type::Descriptor::ePosition:
- return v.visitPosition(o, t);
- case type::Descriptor::ePose:
- return v.visitPose(o, t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(o, t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(o, t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(o, t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(o, t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(o, t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(o, t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(o, t);
- case type::Descriptor::eTime:
- return v.visitTime(o, t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(o, t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(o, t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(o, t);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
index 623356c73972c6bd086d4f23e80a8fa5a6901524..84adf5c1ea7643ece74e2bc3e224e5df075f7a12 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::data
{
if (n == nlohmann::json())
{
- return data::Descriptor::eUnknown;
+ return data::Descriptor::UNKNOWN;
}
std::string t = n[armarx::aron::data::rw::json::constantes::TYPE_SLUG];
return armarx::aron::data::rw::json::conversion::String2Descriptor.at(t);
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
index 0f6f90a193a9391f943fca4466c294f6ac9d69e9..b0799cdbd06bc44004359ebf87a1e1469296f18d 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
@@ -36,7 +36,7 @@ namespace armarx::aron::data
{
if (!n)
{
- return data::Descriptor::eUnknown;
+ return data::Descriptor::UNKNOWN;
}
return n->getDescriptor();
}
@@ -117,7 +117,7 @@ namespace armarx::aron::data
type::Descriptor ConstTypedVariantVisitor::GetDescriptor(DataInput& i, TypeInput& j)
{
auto t_desc = type::ConstVariantVisitor::GetDescriptor(j);
- if (t_desc == type::Descriptor::eUnknown)
+ if (t_desc == type::Descriptor::UNKNOWN)
{
auto d_desc = ConstVariantVisitor::GetDescriptor(i);
t_desc = aron::data::defaultconversion::Data2TypeDescriptor.at(d_desc);
@@ -186,27 +186,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void ConstTypedVariantVisitor::visitOrientation(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Orientation::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
- void ConstTypedVariantVisitor::visitPosition(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Position::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
- void ConstTypedVariantVisitor::visitPose(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Pose::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
void ConstTypedVariantVisitor::visitImage(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
@@ -270,13 +249,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void ConstTypedVariantVisitor::visitTime(DataInput& i, TypeInput& j)
- {
- auto d = data::Long::DynamicCastAndCheck(i);
- auto t = type::Time::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::ObjectPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::DictPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::ListPtr&) {}
@@ -285,15 +257,11 @@ namespace armarx::aron::data
void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::LongPtr&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::TimePtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
void ConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
@@ -760,27 +728,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void RecursiveConstTypedVariantVisitor::visitOrientation(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Orientation::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
- void RecursiveConstTypedVariantVisitor::visitPosition(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Position::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
- void RecursiveConstTypedVariantVisitor::visitPose(DataInput& i, TypeInput& j)
- {
- auto d = data::NDArray::DynamicCastAndCheck(i);
- auto t = type::Pose::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
void RecursiveConstTypedVariantVisitor::visitImage(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
@@ -844,13 +791,6 @@ namespace armarx::aron::data
visitAronVariant(d, t);
}
- void RecursiveConstTypedVariantVisitor::visitTime(DataInput& i, TypeInput& j)
- {
- auto d = data::Long::DynamicCastAndCheck(i);
- auto t = type::Time::DynamicCastAndCheck(j);
- visitAronVariant(d, t);
- }
-
// see above
void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&) {}
@@ -866,15 +806,11 @@ namespace armarx::aron::data
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::LongPtr&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::TimePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
index 389db80a53d43bdb0514f39cbd5276b8f71291bb..726adfd346fbdec56d945d16eac4059e57c4f90b 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
@@ -84,9 +84,6 @@ namespace armarx::aron::data
void visitMatrix(DataInput&, TypeInput&) override;
void visitNDArray(DataInput&, TypeInput&) override;
void visitQuaternion(DataInput&, TypeInput&) override;
- void visitOrientation(DataInput&, TypeInput&) override;
- void visitPosition(DataInput&, TypeInput&) override;
- void visitPose(DataInput&, TypeInput&) override;
void visitImage(DataInput&, TypeInput&) override;
void visitPointCloud(DataInput&, TypeInput&) override;
void visitIntEnum(DataInput&, TypeInput&) override;
@@ -96,7 +93,6 @@ namespace armarx::aron::data
void visitDouble(DataInput&, TypeInput&) override;
void visitBool(DataInput&, TypeInput&) override;
void visitString(DataInput&, TypeInput&) override;
- void visitTime(DataInput&, TypeInput&) override;
// see above
virtual void visitAronVariant(const data::DictPtr&, const type::ObjectPtr&);
@@ -107,15 +103,11 @@ namespace armarx::aron::data
virtual void visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&);
virtual void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&);
virtual void visitAronVariant(const data::IntPtr&, const type::IntPtr&);
virtual void visitAronVariant(const data::LongPtr&, const type::LongPtr&);
- virtual void visitAronVariant(const data::LongPtr&, const type::TimePtr&);
virtual void visitAronVariant(const data::FloatPtr&, const type::FloatPtr&);
virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
@@ -233,9 +225,6 @@ namespace armarx::aron::data
void visitMatrix(DataInput&, TypeInput&) override;
void visitNDArray(DataInput&, TypeInput&) override;
void visitQuaternion(DataInput&, TypeInput&) override;
- void visitOrientation(DataInput&, TypeInput&) override;
- void visitPosition(DataInput&, TypeInput&) override;
- void visitPose(DataInput&, TypeInput&) override;
void visitImage(DataInput&, TypeInput&) override;
void visitPointCloud(DataInput&, TypeInput&) override;
void visitIntEnum(DataInput&, TypeInput&) override;
@@ -245,7 +234,6 @@ namespace armarx::aron::data
void visitDouble(DataInput&, TypeInput&) override;
void visitBool(DataInput&, TypeInput&) override;
void visitString(DataInput&, TypeInput&) override;
- void visitTime(DataInput&, TypeInput&) override;
// see above
virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&);
@@ -261,15 +249,11 @@ namespace armarx::aron::data
virtual void visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&);
virtual void visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&);
virtual void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&);
virtual void visitAronVariant(const data::IntPtr&, const type::IntPtr&);
virtual void visitAronVariant(const data::LongPtr&, const type::LongPtr&);
- virtual void visitAronVariant(const data::LongPtr&, const type::TimePtr&);
virtual void visitAronVariant(const data::FloatPtr&, const type::FloatPtr&);
virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
diff --git a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp b/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp
deleted file mode 100644
index f86ae598e2253bbb933e5c752b665634ee8d1d6c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "DataVisitor.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::aron::visitor
-{
-
-
- DataVisitor::DataVisitor()
- {
- }
-
- DataVisitor::~DataVisitor()
- {
- }
-
-
- bool DataVisitor::applyTo(data::dto::GenericDataPtr& data)
- {
- ARMARX_CHECK_NOT_NULL(data);
- return applyTo(*DataNavigator::FromAronDTO(data));
- }
-
- bool DataVisitor::applyTo(DataVisitor::DataNavigator& navigator)
- {
- return this->applyTo("", navigator);
- }
-
- bool DataVisitor::applyTo(const std::string& key, DataNavigator& navigator)
- {
- auto handleCollection = [this, key](auto & n)
- {
- if (!visitEnter(key, n))
- {
- return false;
- }
- if (!applyToChildren(n))
- {
- return false;
- }
- if (!visitExit(key, n))
- {
- return false;
- }
- return true;
- };
-
- if (auto n = dynamic_cast<DictDataNavigator*>(&navigator))
- {
- return handleCollection(*n);
- }
- else if (auto n = dynamic_cast<ListDataNavigator*>(&navigator))
- {
- return handleCollection(*n);
- }
-
- ARMARX_CHECK_EQUAL(navigator.childrenSize(), 0)
- << simox::meta::get_type_name(navigator);
-
- if (auto n = dynamic_cast<BoolDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<DoubleDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<FloatDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<IntDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<LongDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<NDArrayDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- else if (auto n = dynamic_cast<StringDataNavigator*>(&navigator))
- {
- return visit(key, *n);
- }
- ARMARX_CHECK(false) << "Unhandled AronDataNavigatorType '" << simox::meta::get_type_name(navigator) << "'.";
- }
-
- bool DataVisitor::applyToChildren(DictDataNavigator& navigator)
- {
- for (const std::string& key : navigator.getAllKeys())
- {
- auto child = navigator.getElement(key);
- if (child)
- {
- if (!applyTo(key, *child))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool DataVisitor::applyToChildren(ListDataNavigator& navigator)
- {
- size_t i = 0;
- for (auto& child : navigator.getChildren())
- {
- if (child)
- {
- if (!applyTo(std::to_string(i), *child))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h b/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h
deleted file mode 100644
index a5b3eb18c3ad13a3f191e359707261c0464d1e33..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/DataVisitor.h
+++ /dev/null
@@ -1,265 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-
-
-namespace armarx::aron::visitor
-{
-
- /**
- * @brief A visitor traversing an `aron::data::dto::GenericDataPtr` using
- * `aron::datanavigator::Navigator`s, taking care of type checking,
- * casting and hierarchical traversal.
- *
- * To use it, create a class deriving from `AronDataVisitor` and
- * override the overloads of `visitEnter()`, `visitExit()` and `visit()`
- * for the types you would like to handle (see blow for a copy-and-paste
- * example).
- * Then, instantiate your derived visitor and call `applyTo()`, passing
- * the `AronDataPtr` or the root `Navigator`.
- *
- * For dicts and lists, you will get a `visitEnter()`/`visitExit()` pair.
- * For types without children (e.g. primitive types), you get a single
- * `visit()` call.
- *
- * Each visit function should return true to continue traversal or
- * false to stop it. All default implementations return true.
- *
- * To the the location of the passed navigator in the original `AronData`,
- * use `navigator.getPath()`.
- *
- * @see `aron::data::dto::GenericDataPtr`
- * @see `aron::datanavigator::Navigator`
- * @see `std::stack` To manage data with stack semantics.
- */
- class DataVisitor
- {
- public:
-
- // Define types to ease writing code in this and derived classes.
-
- using DataNavigator = data::Variant;
-
- using DictDataNavigator = data::Dict;
- using ListDataNavigator = data::List;
-
- using BoolDataNavigator = data::Bool;
- using DoubleDataNavigator = data::Double;
- using FloatDataNavigator = data::Float;
- using IntDataNavigator = data::Int;
- using LongDataNavigator = data::Long;
- using NDArrayDataNavigator = data::NDArray;
- using StringDataNavigator = data::String;
-
-
- public:
-
- DataVisitor();
- virtual ~DataVisitor();
-
-
- bool applyTo(data::dto::GenericDataPtr& aronData);
- bool applyTo(DataNavigator& navigator);
- bool applyTo(const std::string& key, DataNavigator& navigator);
-
-
-
- virtual bool visitEnter(DictDataNavigator& dict)
- {
- (void) dict;
- return true;
- }
- virtual bool visitExit(DictDataNavigator& dict)
- {
- (void) dict;
- return true;
- }
- virtual bool visitEnter(ListDataNavigator& list)
- {
- (void) list;
- return true;
- }
- virtual bool visitExit(ListDataNavigator& list)
- {
- (void) list;
- return true;
- }
-
- virtual bool visit(BoolDataNavigator& b)
- {
- (void) b;
- return true;
- }
- virtual bool visit(DoubleDataNavigator& d)
- {
- (void) d;
- return true;
- }
- virtual bool visit(FloatDataNavigator& f)
- {
- (void) f;
- return true;
- }
- virtual bool visit(IntDataNavigator& i)
- {
- (void) i;
- return true;
- }
- virtual bool visit(LongDataNavigator& l)
- {
- (void) l;
- return true;
- }
- virtual bool visit(NDArrayDataNavigator& array)
- {
- (void) array;
- return true;
- }
- virtual bool visit(StringDataNavigator& string)
- {
- (void) string;
- return true;
- }
-
-
- virtual bool visitEnter(const std::string& key, DictDataNavigator& dict)
- {
- (void) key;
- return visitEnter(dict);
- }
- virtual bool visitExit(const std::string& key, DictDataNavigator& dict)
- {
- (void) key;
- return visitExit(dict);
- }
- virtual bool visitEnter(const std::string& key, ListDataNavigator& list)
- {
- (void) key;
- return visitEnter(list);
- }
- virtual bool visitExit(const std::string& key, ListDataNavigator& list)
- {
- (void) key;
- return visitExit(list);
- }
-
- virtual bool visit(const std::string& key, BoolDataNavigator& b)
- {
- (void) key;
- return visit(b);
- }
- virtual bool visit(const std::string& key, DoubleDataNavigator& d)
- {
- (void) key;
- return visit(d);
- }
- virtual bool visit(const std::string& key, FloatDataNavigator& f)
- {
- (void) key;
- return visit(f);
- }
- virtual bool visit(const std::string& key, IntDataNavigator& i)
- {
- (void) key;
- return visit(i);
- }
- virtual bool visit(const std::string& key, LongDataNavigator& l)
- {
- (void) key;
- return visit(l);
- }
- virtual bool visit(const std::string& key, NDArrayDataNavigator& array)
- {
- (void) key;
- return visit(array);
- }
- virtual bool visit(const std::string& key, StringDataNavigator& string)
- {
- (void) key;
- return visit(string);
- }
-
-
- private:
-
- bool applyToChildren(DictDataNavigator& navigator);
- bool applyToChildren(ListDataNavigator& navigator);
-
- };
-
-}
-
-
-/* Copy-and-paste example below.
- * Remove functions you don't need.
- * Add `const std::string& key, ` to parameter list if you need an items's key
- * in the parent container.
- */
-
-#if 0
-
-struct MyDerivedAronDataVisitor : public armarx::aron::visitor::AronDataVisitor
-{
-
- bool visitEnter(DictDataNavigator& dict) override
- {
- (void) dict;
- return true;
- }
- bool visitExit(DictDataNavigator& dict) override
- {
- (void) dict;
- return true;
- }
- bool visitEnter(ListDataNavigator& list) override
- {
- (void) list;
- return true;
- }
- bool visitExit(ListDataNavigator& list) override
- {
- (void) list;
- return true;
- }
-
- bool visit(BoolDataNavigator& b) override
- {
- (void) b;
- return true;
- }
- bool visit(DoubleDataNavigator& d) override
- {
- (void) d;
- return true;
- }
- bool visit(FloatDataNavigator& f) override
- {
- (void) f;
- return true;
- }
- bool visit(IntDataNavigator& i) override
- {
- (void) i;
- return true;
- }
- bool visit(LongDataNavigator& l) override
- {
- (void) l;
- return true;
- }
- bool visit(NDArrayDataNavigator& array) override
- {
- (void) array;
- return true;
- }
- bool visit(StringDataNavigator& string) override
- {
- (void) string;
- return true;
- }
-
-};
-
-#endif
diff --git a/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h b/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h
deleted file mode 100644
index fb068ebace153c2764a57c347a0bb904f7afa2f9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/Randomizer.h
+++ /dev/null
@@ -1,631 +0,0 @@
-/*
- * 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
-
-// STD/STL
-#include <map>
-#include <memory>
-#include <numeric>
-#include <set>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
-#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
-
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
-namespace armarx::aron
-{
- namespace type::matrix
- {
- const std::vector<type::matrix::ElementType> AllTypes = {
- type::matrix::ElementType::int16,
- type::matrix::ElementType::int32,
- type::matrix::ElementType::int64,
- type::matrix::ElementType::float32,
- type::matrix::ElementType::float64
- };
- }
-
- namespace type::quaternion
- {
- const std::vector<type::quaternion::ElementType> AllTypes = {
- type::quaternion::float32,
- type::quaternion::float64
- };
- }
-
- namespace type::image
- {
- const std::vector<type::image::PixelType> AllTypes = {
- type::image::PixelType::rgb24,
- type::image::PixelType::depth32
- };
- }
-
- namespace type::pointcloud
- {
- const std::vector<type::pointcloud::VoxelType> AllTypes = {
- type::pointcloud::VoxelType::PointXYZ,
- type::pointcloud::VoxelType::PointXYZHSV,
- type::pointcloud::VoxelType::PointXYZI,
- type::pointcloud::VoxelType::PointXYZL,
- type::pointcloud::VoxelType::PointXYZRGB,
- type::pointcloud::VoxelType::PointXYZRGBA,
- type::pointcloud::VoxelType::PointXYZRGBL
- };
- }
-
- namespace util
- {
- // generate i in [min, max)
- int generateRandom(int max, int min)
- {
- if (max < min)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The max value "+std::to_string(max)+" is lower than the min value "+std::to_string(min));
- }
- int random = (std::rand() % (max - min)) + min;
- return random;
- }
-
- template <class T>
- T getRandomElement(const std::vector<T>& vec)
- {
- int i = generateRandom(vec.size(), 0);
- return vec.at(i);
- }
-
- template <class ValueT>
- std::string getRandomKey(const std::map<std::string, ValueT>& m)
- {
- std::vector<std::string> keys;
- for (const auto [k, _] : m)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- std::string getRandomKey(const std::set<std::string>& set)
- {
- std::vector<std::string> keys;
- for (const auto& k : set)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- bool fiftyPercentChance()
- {
- return generateRandom(2, 0);
- }
-
- std::string generateRandomWord(const std::set<std::string>& usedKeys = {})
- {
- // https://randomwordgenerator.com/
- // script to convert random words into string:
- // jQuery("#result li i").remove(); var str = ""; jQuery("#result li").each(function() {str += jQuery(this).html() + ", " }); console.log(str);
- const std::vector<std::string> words =
- {
- "jaw", "river", "bow", "profession", "heat", "interference", "slave", "population", "deport", "redeem", "digress", "penny", "cousin", "beef", "Bible", "fuss",
- "urgency", "tasty", "innovation", "upset", "gold", "day", "remunerate", "strain", "district", "panel", "choke", "rack", "parameter", "despair", "extort", "country",
- "hesitate", "record", "brand", "confusion", "discreet", "accept", "lifestyle", "option", "corn", "charity", "miss", "viable", "glance", "norm", "meet", "bird",
- "ribbon", "guideline"
- };
-
- int i = generateRandom(words.size(), 0);
- std::string key = words.at(i);
-
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord(usedKeys);
- }
-
- return key;
- }
-
- std::vector<unsigned char> generateRandomBlob(unsigned int size)
- {
- std::vector<unsigned char> new_blob(size, 0);
- for (unsigned int i = 0; i < size; ++i)
- {
- new_blob[i] = (generateRandom(128, 0));
- }
- return new_blob;
- }
-
- struct RandomTypeGenerator : public type::Visitor<const type::Descriptor>
- {
- type::VariantPtr type;
-
- static type::VariantPtr GenerateRandomType(bool can_be_maybe = true, bool must_be_object = false)
- {
- RandomTypeGenerator nt;
- if (must_be_object)
- {
- type::visit(nt, type::Descriptor::eObject);
- }
- else
- {
- type::visit(nt, util::getRandomElement(type::AllDescriptors));
- }
-
- if (can_be_maybe)
- {
- type::Maybe nextMaybeType = util::getRandomElement(type::AllMaybeTypes);
- nt.type->setMaybe(nextMaybeType);
- }
- return nt.type;
- }
-
- virtual type::Descriptor getDescriptor(Input& t) override { return t; }
- virtual void visitObject(Input&) override
- {
- std::string objectName = util::generateRandomWord();
-
- int members = util::generateRandom(4, 2);
- std::set<std::string> usedKeys = {objectName};
- std::map<std::string, type::VariantPtr> elements;
- for (int i = 0; i < members; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- elements.insert({key, GenerateRandomType()});
- }
- type = std::make_shared<type::Object>(objectName, elements);
- }
- virtual void visitDict(Input&) override { type = std::make_shared<type::Dict>(GenerateRandomType()); }
- virtual void visitPair(Input&) override { type = std::make_shared<type::Pair>(GenerateRandomType(), GenerateRandomType()); }
- virtual void visitTuple(Input&) override
- {
- int members = util::generateRandom(4, 2);
- std::vector<type::VariantPtr> acceptedTypes;
- for (int i = 0; i < members; ++i)
- {
- acceptedTypes.push_back(GenerateRandomType());
- }
-
- type = std::make_shared<type::Tuple>(acceptedTypes);
- }
- virtual void visitList(Input&) override { type = std::make_shared<type::List>(GenerateRandomType()); }
- virtual void visitMatrix(Input&) override
- {
- auto x = std::make_shared<type::Matrix>();
- auto t = util::getRandomElement(type::matrix::AllTypes);
- x->setElementType(t);
- x->setRows(util::generateRandom(10, 1));
- x->setRows(util::generateRandom(10, 1));
- type = x;
- }
- virtual void visitNDArray(Input& t) override { visitMatrix(t); }
- virtual void visitQuaternion(Input&) override
- {
- auto x = std::make_shared<type::Quaternion>();
- auto t = util::getRandomElement(type::quaternion::AllTypes);
- x->setElementType(t);
- type = x;
- }
- virtual void visitOrientation(Input&) override { type = std::make_shared<type::Orientation>(); }
- virtual void visitPosition(Input&) override { type = std::make_shared<type::Position>(); }
- virtual void visitPose(Input&) override { type = std::make_shared<type::Pose>(); }
- virtual void visitImage(Input&) override
- {
- auto t = std::make_shared<type::Image>();
- auto x = util::getRandomElement(type::image::AllTypes);
- t->setPixelType(x);
- type = t;
- }
- virtual void visitPointCloud(Input&) override
- {
- auto t = std::make_shared<type::PointCloud>();
- auto x = util::getRandomElement(type::pointcloud::AllTypes);
- t->setVoxelType(x);
- type = t;
- }
- virtual void visitIntEnum(Input&) override
- {
- std::string intEnumName = util::generateRandomWord();
-
- std::set<std::string> usedKeys = {intEnumName};
- std::map<std::string, int> acceptedValues;
- for (int i = 0; i < util::generateRandom(5, 2); ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- acceptedValues.insert({key, i});
- }
- type = std::make_shared<type::IntEnum>(intEnumName, acceptedValues);
- }
- virtual void visitInt(Input&) override { type = std::make_shared<type::Int>(); }
- virtual void visitLong(Input&) override { type = std::make_shared<type::Long>(); }
- virtual void visitFloat(Input&) override { type = std::make_shared<type::Float>(); }
- virtual void visitDouble(Input&) override { type = std::make_shared<type::Double>(); }
- virtual void visitBool(Input&) override { type = std::make_shared<type::Bool>(); }
- virtual void visitString(Input&) override { type = std::make_shared<type::String>(); }
- virtual void visitTime(Input&) override { type = std::make_shared<type::Time>(); }
- virtual void visitUnknown(Input&) override { type = GenerateRandomType(); }
- };
-
- struct EmptyDataFromTypeGenerator : public type::Visitor<const type::Descriptor>
- {
- type::VariantPtr type;
- data::VariantPtr data;
-
- static data::VariantPtr GenerateRandomFromType(const type::VariantPtr& t)
- {
- EmptyDataFromTypeGenerator nt;
- nt.type = t;
- type::visit(nt, util::getRandomElement(type::AllDescriptors));
- return nt.data;
- }
-
- virtual type::Descriptor getDescriptor(Input& t) override { return t; }
- virtual void visitObject(Input&) override
- {
- auto da = std::make_shared<data::Dict>();
-
- type::ObjectPtr t = type::Object::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Dict>();
- for (const auto& [k, tt] : t->getMemberTypes())
- {
- d->addElement(k, GenerateRandomFromType(tt));
- }
- data = da;
- }
- virtual void visitDict(Input&) override { data = std::make_shared<data::Dict>(); }
- virtual void visitPair(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitTuple(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitList(Input&) override { data = std::make_shared<data::List>(); }
- virtual void visitMatrix(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitNDArray(Input& t) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitQuaternion(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitOrientation(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPosition(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPose(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitImage(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitPointCloud(Input&) override { data = std::make_shared<data::NDArray>(); }
- virtual void visitIntEnum(Input&) override { data = std::make_shared<data::Int>(); }
- virtual void visitInt(Input&) override { data = std::make_shared<data::Int>(); }
- virtual void visitLong(Input&) override { data = std::make_shared<data::Long>(); }
- virtual void visitFloat(Input&) override { data = std::make_shared<data::Float>(); }
- virtual void visitDouble(Input&) override { data = std::make_shared<data::Double>(); }
- virtual void visitBool(Input&) override { data = std::make_shared<data::Bool>(); }
- virtual void visitString(Input&) override { data = std::make_shared<data::String>(); }
- virtual void visitTime(Input&) override { data = std::make_shared<data::Long>(); }
- virtual void visitUnknown(Input&) override { data = GenerateRandomFromType(type); }
- };
- }
-
- class Randomizer
- {
- public:
- Randomizer()
- {
- std::srand(std::time(nullptr));
- };
-
- type::VariantPtr generateRandomObjectType() const
- {
- return util::RandomTypeGenerator::GenerateRandomType(false, true);
- }
-
- data::VariantPtr generateEmptyAronDataFromType(const type::VariantPtr& type, bool ignore_maybe = false) const
- {
- if (type->getMaybe() != type::Maybe::eNone && !ignore_maybe)
- {
- if (util::fiftyPercentChance())
- {
- return nullptr;
- }
- }
-
- auto data = util::EmptyDataFromTypeGenerator::GenerateRandomFromType(type);
- return data;
- }
-
- void initializeRandomly(data::VariantPtr& data, const type::VariantPtr& type) const
- {
- data = generateEmptyAronDataFromType(type);
- if (!data)
- {
- if (type->getMaybe() == type::Maybe::eNone)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The data is null but the type is not a maybe type. This is not valid.");
- }
- return;
- }
-
- // Containers
- type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eObject:
- {
- auto t = type::Object::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eOrientation:
- {
- auto t = type::Orientation::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePosition:
- {
- auto t = type::Position::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePose:
- {
- auto t = type::Pose::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- auto d = data::Float::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- auto d = data::Double::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- auto d = data::String::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- auto d = data::Bool::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTime:
- {
- auto t = type::Time::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
-
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Object& type) const
- {
- for (auto& [key, nextData] : data->getElements())
- {
- initializeRandomly(nextData, type.getMemberTypes()[key]);
- data->removeElement(key);
- data->addElement(key, nextData);
- }
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Dict& type) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- std::set<std::string> usedKeys;
- for (int i = 0; i < numElements; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType());
- data->addElement(key, newData);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Tuple& type) const
- {
- std::vector<data::VariantPtr> newElements;
-
- unsigned int i = 0;
- for (auto& nextData : data->getElements())
- {
- initializeRandomly(nextData, type.getAcceptedType(i++));
- newElements.push_back(nextData);
- }
-
- data->clear();
- for (const auto& el : newElements)
- {
- data->addElement(el);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Pair& type) const
- {
- data::VariantPtr first = data->getElement(0);
- data::VariantPtr second = data->getElement(1);
- initializeRandomly(first, type.getFirstAcceptedType());
- initializeRandomly(second, type.getSecondAcceptedType());
-
- data->clear();
- data->addElement(first);
- data->addElement(second);
- }
-
- void initializeRandomly(data::ListPtr& data, const type::List& type) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- for (int i = 0; i < numElements; ++i)
- {
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType());
- data->addElement(newData);
- }
- }
-
- void initializeRandomly(data::NDArrayPtr& data, const type::Variant& type) const
- {
- std::vector<int> dims = data->getShape();
- int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
- std::vector<unsigned char> blob = util::generateRandomBlob(bytes);
- data->setData(bytes, blob.data());
- }
-
- void initializeRandomly(data::IntPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::LongPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::FloatPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::DoublePtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::BoolPtr& data, const type::Variant& type) const
- {
- data->setValue(util::fiftyPercentChance());
- }
-
- void initializeRandomly(data::StringPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandomWord());
- }
- };
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp b/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp
deleted file mode 100644
index cb129561e7242ed256ce7e89295647a3c9df90cb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.cpp
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "TypedDataVisitor.h"
-
-#include <SimoxUtility/meta/type_name.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::aron::visitor
-{
-
-
- TypedDataVisitor::TypedDataVisitor()
- {
- }
-
- TypedDataVisitor::~TypedDataVisitor()
- {
- }
-
- bool TypedDataVisitor::applyTo(TypeNavigator& type, DataNavigator& data)
- {
- return this->applyTo("", type, data);
- }
-
- template <class DataT, class TypeT>
- bool TypedDataVisitor::applyToCollection(TypeT& type, const std::string& key, DataNavigator& data)
- {
- DataT& dataCast = dynamic_cast<DataT&>(data);
- if (!visitEnter(type, key, dataCast))
- {
- return false;
- }
- if (!applyToChildren(type, dataCast))
- {
- return false;
- }
- if (!visitExit(type, key, dataCast))
- {
- return false;
- }
- return true;
- }
-
- template <class ToT, class FromT>
- ToT cast(const FromT& from)
- {
- ToT to;
- to.setValue(from.getValue());
- return to;
- }
- template <class FromDataT>
- std::optional<data::Long> castToLong(const FromDataT& data)
- {
- if (auto d = dynamic_cast<const data::Int*>(&data))
- {
- return cast<data::Long>(*d);
- }
- return std::nullopt;
- }
- template <class FromDataT>
- std::optional<data::Int> castToInt(const FromDataT& data)
- {
- if (auto d = dynamic_cast<const data::Long*>(&data))
- {
- return cast<data::Int>(*d);
- }
- return std::nullopt;
- }
-
-
- bool TypedDataVisitor::applyTo(const std::string& key, TypeNavigator& type, DataNavigator& data)
- {
- if (auto t = dynamic_cast<ObjectTypeNavigator*>(&type))
- {
- return applyToCollection<DictDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<DictTypeNavigator*>(&type))
- {
- return applyToCollection<DictDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<ListTypeNavigator*>(&type))
- {
- return applyToCollection<ListDataNavigator>(*t, key, data);
- }
- else if (auto t = dynamic_cast<TupleTypeNavigator*>(&type))
- {
- return applyToCollection<ListDataNavigator>(*t, key, data);
- }
-
- ARMARX_CHECK_EQUAL(type.childrenSize(), 0) << simox::meta::get_type_name(type);
- ARMARX_CHECK_EQUAL(data.childrenSize(), 0) << simox::meta::get_type_name(data);
-
- try
- {
-
- if (auto t = dynamic_cast<BoolTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<BoolDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<DoubleTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<DoubleDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<FloatTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<FloatDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<IntTypeNavigator*>(&type))
- {
- if (auto cast = castToInt(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<IntDataNavigator&>(data));
- }
- }
- else if (auto t = dynamic_cast<LongTypeNavigator*>(&type))
- {
- if (auto cast = castToLong(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<LongDataNavigator&>(data));
- }
- }
- else if (auto t = dynamic_cast<StringTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<StringDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<TimeTypeNavigator*>(&type))
- {
- if (auto cast = castToLong(data))
- {
- return visit(*t, key, cast.value());
- }
- else
- {
- return visit(*t, key, dynamic_cast<LongDataNavigator&>(data));
- }
- }
-
- if (auto t = dynamic_cast<PCLPointCloudTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<EigenMatrixTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<EigenQuaternionTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<ImageNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<PoseTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<PositionTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
- else if (auto t = dynamic_cast<OrientationTypeNavigator*>(&type))
- {
- return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
- }
-
- ARMARX_CHECK(false) << "Unhandled AronTypeNavigatorType '" << simox::meta::get_type_name(type) << "'."
- << "\n(Data: '" << simox::meta::get_type_name(data) << "')";
- }
- catch (const std::bad_cast& e)
- {
- std::stringstream msg;
- msg << "Got ARON data '" << simox::meta::get_type_name(data) << "'"
- << " incompatible to ARON type '" << simox::meta::get_type_name(type) << "'"
- << " (got std::bad_cast: '" << e.what() << "').";
- throw error::AronException(__PRETTY_FUNCTION__, msg.str());
- }
- }
-
- bool TypedDataVisitor::applyToChildren(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- for (const std::string& key : type.getAllKeys())
- {
- TypeNavigator::PointerType childType = type.getMemberType(key);
- DataNavigator::PointerType childData = data.getElement(key);
- if (childType && childData)
- {
- if (!applyTo(key, *childType, *childData))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(DictTypeNavigator& type, DictDataNavigator& data)
- {
- TypeNavigator::PointerType childType = type.getAcceptedType();
- for (const std::string& key : data.getAllKeys())
- {
- DataNavigator::PointerType childData = data.getElement(key);
- if (childType && childData)
- {
- if (!applyTo(key, *childType, *childData))
- {
- return false;
- }
- }
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(ListTypeNavigator& type, ListDataNavigator& data)
- {
- TypeNavigator::PointerType childType = type.getAcceptedType();
- size_t i = 0;
- for (const DataNavigator::PointerType& childData : data.getElements())
- {
- if (childType && childData)
- {
- if (!applyTo(std::to_string(i), *childType, *childData))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
- bool TypedDataVisitor::applyToChildren(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- unsigned int i = 0;
- for (const TypeNavigator::PointerType& childType : type.getAcceptedTypes())
- {
- DataNavigator::PointerType childData = data.getElement(i);
- if (childType && childData)
- {
- if (!applyTo(std::to_string(i), *childType, *childData))
- {
- return false;
- }
- }
- ++i;
- }
- return true;
- }
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h b/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h
deleted file mode 100644
index bbc93f210289ef4540c05c434308867f3afe9817..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/legacy/TypedDataVisitor.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-
-namespace armarx::aron::visitor
-{
-
- /**
- * @brief A visitor traversing an `aron::type::dto::GenericTypePtr` using
- * `aron::Typenavigator::Navigator`s, taking care of type checking,
- * casting and hierarchical traversal.
- *
- * To use it, create a class deriving from `AronTypeVisitor` and
- * override the overloads of `visitEnter()`, `visitExit()` and `visit()`
- * for the types you would like to handle (see blow for a copy-and-paste
- * example).
- * Then, instantiate your derived visitor and call `applyTo()`, passing
- * the `AronTypePtr` or the root `Navigator`.
- *
- * For dicts and lists, you will get a `visitEnter()`/`visitExit()` pair.
- * For types without children (e.g. primitive types), you get a single
- * `visit()` call.
- *
- * Each visit function should return true to continue traversal or
- * false to stop it. All default implementations return true.
- *
- * To the the location of the passed navigator in the original `AronType`,
- * use `navigator.getPath()`.
- *
- * @see `aron::type::dto::GenericTypePtr`
- * @see `aron::Typenavigator::Navigator`
- * @see `std::stack` To manage Type with stack semantics.
- */
- class TypedDataVisitor
- {
- public:
-
- // Define types to ease writing code in this and derived classes.
-
- // Data - possible data representations
- using DataNavigator = data::Variant;
-
- using DictDataNavigator = data::Dict;
- using ListDataNavigator = data::List;
-
- using BoolDataNavigator = data::Bool;
- using DoubleDataNavigator = data::Double;
- using FloatDataNavigator = data::Float;
- using IntDataNavigator = data::Int;
- using LongDataNavigator = data::Long;
- using StringDataNavigator = data::String;
-
- using NDArrayDataNavigator = data::NDArray;
-
-
- // Type
- using TypeNavigator = type::Variant;
-
- // Dict-valued
- using DictTypeNavigator = type::Dict;
- using ObjectTypeNavigator = type::Object;
-
- // List-valued
- using ListTypeNavigator = type::List;
- using TupleTypeNavigator = type::Tuple;
-
- // Primitive-valued
- using BoolTypeNavigator = type::Bool;
- using DoubleTypeNavigator = type::Double;
- using FloatTypeNavigator = type::Float;
- using IntTypeNavigator = type::Int;
- using LongTypeNavigator = type::Long;
- using StringTypeNavigator = type::String;
- using TimeTypeNavigator = type::Time;
-
-
- // Array-valued
- using EigenMatrixTypeNavigator = type::Matrix;
- using EigenQuaternionTypeNavigator = type::Quaternion;
- using ImageNavigator = type::Image;
- using PCLPointCloudTypeNavigator = type::PointCloud;
- using PoseTypeNavigator = type::Pose;
- using PositionTypeNavigator = type::Position;
- using OrientationTypeNavigator = type::Orientation;
-
-
- public:
-
- TypedDataVisitor();
- virtual ~TypedDataVisitor();
-
-
- bool applyTo(TypeNavigator& type, DataNavigator& data);
- bool applyTo(const std::string& key, TypeNavigator& type, DataNavigator& data);
-
-
- virtual bool visitEnter(DictTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(DictTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(ObjectTypeNavigator& type, DictDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(ListTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(ListTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
- virtual bool visitEnter(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visitExit(TupleTypeNavigator& type, ListDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
- virtual bool visit(BoolTypeNavigator& type, BoolDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(DoubleTypeNavigator& type, DoubleDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(FloatTypeNavigator& type, FloatDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(IntTypeNavigator& type, IntDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(LongTypeNavigator& type, LongDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(StringTypeNavigator& type, StringDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(TimeTypeNavigator& type, LongDataNavigator& data)
- {
- return visit(type, IceUtil::Time::microSeconds(data.getValue()));
- }
- virtual bool visit(TimeTypeNavigator& type, const IceUtil::Time& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
- virtual bool visit(EigenMatrixTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(EigenQuaternionTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(ImageNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- /*virtual bool visit(IVTCByteImageTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(OpenCVMatTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }*/
- virtual bool visit(PCLPointCloudTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(PoseTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(PositionTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
- virtual bool visit(OrientationTypeNavigator& type, NDArrayDataNavigator& data)
- {
- (void) type, (void) data;
- return true;
- }
-
-
-
- virtual bool visitEnter(DictTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(DictTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(ObjectTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(ObjectTypeNavigator& type, const std::string& key, DictDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(ListTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(ListTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
- virtual bool visitEnter(TupleTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitEnter(type, data);
- }
- virtual bool visitExit(TupleTypeNavigator& type, const std::string& key, ListDataNavigator& data)
- {
- (void) key;
- return visitExit(type, data);
- }
-
-
- virtual bool visit(BoolTypeNavigator& type, const std::string& key, BoolDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(DoubleTypeNavigator& type, const std::string& key, DoubleDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(FloatTypeNavigator& type, const std::string& key, FloatDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(IntTypeNavigator& type, const std::string& key, IntDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(LongTypeNavigator& type, const std::string& key, LongDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(StringTypeNavigator& type, const std::string& key, StringDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(TimeTypeNavigator& type, const std::string& key, LongDataNavigator& data)
- {
- (void) key;
- return visit(type, data);
- }
- virtual bool visit(TimeTypeNavigator& type, const std::string& key, const IceUtil::Time& data)
- {
- (void) key;
- return visit(type, data);
- }
-
-
- virtual bool visit(EigenMatrixTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(EigenQuaternionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(ImageNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- /*virtual bool visit(IVTCByteImageTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(OpenCVMatTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }*/
- virtual bool visit(PCLPointCloudTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(PoseTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(PositionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
- virtual bool visit(OrientationTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
- {
- (void) type, (void) key;
- return visit(type, data);
- }
-
-
- private:
-
- template <class DataT, class TypeT>
- bool applyToCollection(TypeT& type, const std::string& key, DataNavigator& data);
-
- bool applyToChildren(ObjectTypeNavigator& type, DictDataNavigator& data);
- bool applyToChildren(DictTypeNavigator& type, DictDataNavigator& data);
- bool applyToChildren(ListTypeNavigator& type, ListDataNavigator& data);
- bool applyToChildren(TupleTypeNavigator& type, ListDataNavigator& data);
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/aron/core/rw.cpp b/source/RobotAPI/libraries/aron/core/rw.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..add7a1803ea32fea1bd807406d2934649034c2af
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/rw.cpp
@@ -0,0 +1,6 @@
+#include "aron_conversions.h"
+
+namespace armarx::aron
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/rw.h b/source/RobotAPI/libraries/aron/core/rw.h
new file mode 100644
index 0000000000000000000000000000000000000000..6257f2422687591b0991afed8a0577ee127207ef
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/rw.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <map>
+#include <memory>
+#include <optional>
+#include <vector>
+
+#include "aron_conversions.h"
+#include "data/rw/Reader.h"
+#include "data/rw/Writer.h"
+
+namespace armarx::aron
+{
+ template<class ReaderT, class T>
+ requires (data::isReader<ReaderT>)
+ inline void read(ReaderT& aron_r, typename ReaderT::InputType& input, T& ret)
+ {
+ ret.read(aron_r, input);
+ }
+
+ template<class WriterT, class T>
+ requires (data::isWriter<WriterT>)
+ inline void write(WriterT& aron_w, const T& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ ret = input.write(aron_w, aron_p);
+ }
+
+ template<class ReaderT, class DtoT, class BoT>
+ requires (data::isReader<ReaderT> && !DtoAndBoAreSame<DtoT, BoT>)
+ inline void read(ReaderT& aron_r, typename ReaderT::InputType& input, BoT& ret)
+ {
+ DtoT aron;
+ aron.read(aron_r, input);
+
+ armarx::fromAron(aron, ret);
+ }
+
+ template<class WriterT, class DtoT, class BoT>
+ requires (data::isWriter<WriterT> && !DtoAndBoAreSame<DtoT, BoT>)
+ inline void write(WriterT& aron_w, const BoT& input, typename WriterT::ReturnType& ret, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ DtoT aron;
+ armarx::toAron(aron, input);
+ ret = aron.write(aron_w, aron_p);
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 50aee382cef1bf2deab797384d816e362d9383eb..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -1,145 +0,0 @@
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox not available")
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-find_package(IVT COMPONENTS ivt ivtopencv QUIET)
-armarx_build_if(IVT_FOUND "IVT not available")
-
-find_package(OpenCV QUIET)
-armarx_build_if(OpenCV_FOUND "OpenCV not available")
-
-find_package(PCL QUIET)
-armarx_build_if(PCL_FOUND "PCL not available")
-
-######################
-# ARON OPERATOR TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronOperatorTest
- TEST_FILE
- aronOperatorTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-######################
-# ARON CODE GEN TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronCodeGenerationTest
- TEST_FILE
- aronCodeGenerationTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/AnyTest.xml
- aron/TemplateTest.xml
- aron/DictTest.xml
- aron/MatrixTest.xml
- aron/QuaternionTest.xml
- aron/EnumTest.xml
- aron/HumanPoseTest.xml
- aron/ImageTest.xml
- aron/ListTest.xml
- aron/NaturalIKTest.xml
- aron/ObjectTest.xml
- aron/OrientationTest.xml
- aron/PointCloudTest.xml
- aron/PoseTest.xml
- aron/PositionTest.xml
- aron/PrimitiveTest.xml
- aron/OptionalTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
- ${Eigen3_INCLUDE_DIR}
- ${IVT_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
- ${PCL_INCLUDE_DIRS}
-)
-
-######################
-# ARON NAVIGATE TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronNavigateTest
- TEST_FILE
- aronNavigateTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/NaturalIKTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-######################
-# ARON EXTENDS TEST #
-######################
-armarx_add_test(
- TEST_NAME
- aronExtendsTest
- TEST_FILE
- aronExtendsTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ARON_FILES
- aron/BaseClassTest.xml
- aron/DerivedClassTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
-)
-
-########################
-# ARON RANDOMIZED TEST #
-########################
-armarx_add_test(
- TEST_NAME
- aronRandomizedTest
- TEST_FILE
- aronRandomizedTest.cpp
- LIBS
- SimoxUtility # Simox::SimoxUtility
- ArmarXCore
- RobotAPI::aron
- ivt
- ivtopencv
- ${PCL_COMMON_LIBRARIES}
- aronjsonconverter
- ARON_FILES
- aron/DictTest.xml
- aron/MatrixTest.xml
- aron/QuaternionTest.xml
- aron/EnumTest.xml
- aron/HumanPoseTest.xml
- aron/ListTest.xml
- aron/NaturalIKTest.xml
- aron/ObjectTest.xml
- aron/OrientationTest.xml
- aron/PointCloudTest.xml
- aron/PoseTest.xml
- aron/PositionTest.xml
- aron/PrimitiveTest.xml
- aron/OptionalTest.xml
- aron/ImageTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
- ${Eigen3_INCLUDE_DIR}
- ${IVT_INCLUDE_DIRS}
- ${OpenCV_INCLUDE_DIRS}
- ${PCL_INCLUDE_DIRS}
-)
diff --git a/source/RobotAPI/libraries/aron/core/test/Randomizer.h b/source/RobotAPI/libraries/aron/core/test/Randomizer.h
deleted file mode 100644
index 20c30f94bf37c64f9ccbee8853dbd3b42a93fe8f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/test/Randomizer.h
+++ /dev/null
@@ -1,829 +0,0 @@
-/*
- * 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
-
-// STD/STL
-#include <map>
-#include <memory>
-#include <numeric>
-#include <set>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/variant/All.h>
-
-#include <RobotAPI/libraries/aron/core/type/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/data/visitor/Visitor.h>
-
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
-#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/All.h>
-
-namespace armarx::aron
-{
- namespace type::matrix
- {
- std::vector<type::matrix::ElementType> getAllTypes()
- {
- std::vector<type::matrix::ElementType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::matrix::ElementType> AllTypes = getAllTypes();
- }
-
- namespace type::quaternion
- {
- std::vector<type::quaternion::ElementType> getAllTypes()
- {
- std::vector<type::quaternion::ElementType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::quaternion::ElementType> AllTypes = getAllTypes();
- }
-
- namespace type::image
- {
- std::vector<type::image::PixelType> getAllTypes()
- {
- std::vector<type::image::PixelType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::Image::PixelType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::image::PixelType> AllTypes = getAllTypes();
- }
-
- namespace type::pointcloud
- {
- std::vector<type::pointcloud::VoxelType> getAllTypes()
- {
- std::vector<type::pointcloud::VoxelType> ret;
- for(const auto& el : aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp)
- {
- ret.push_back(el.first);
- }
- return ret;
- }
- const std::vector<type::pointcloud::VoxelType> AllTypes = getAllTypes();
- }
-
- namespace util
- {
- // generate i in [min, max)
- int generateRandom(int max, int min)
- {
- if (max < min)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The max value "+std::to_string(max)+" is lower than the min value "+std::to_string(min));
- }
- int random = (std::rand() % (max - min)) + min;
- return random;
- }
-
- template <class T>
- T getRandomElement(const std::vector<T>& vec)
- {
- int i = generateRandom(vec.size(), 0);
- return vec.at(i);
- }
-
- template <class ValueT>
- std::string getRandomKey(const std::map<std::string, ValueT>& m)
- {
- std::vector<std::string> keys;
- for (const auto [k, _] : m)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- std::string getRandomKey(const std::set<std::string>& set)
- {
- std::vector<std::string> keys;
- for (const auto& k : set)
- {
- keys.push_back(k);
- }
- return getRandomElement(keys);
- }
-
- bool fiftyPercentChance()
- {
- return generateRandom(2, 0);
- }
-
- std::string generateRandomWord(const std::set<std::string>& usedKeys = {})
- {
- // https://randomwordgenerator.com/
- // script to convert random words into string:
- // jQuery("#result li i").remove(); var str = ""; jQuery("#result li").each(function() {str += jQuery(this).html() + ", " }); console.log(str);
- const std::vector<std::string> words =
- {
- "jaw", "river", "bow", "profession", "heat", "interference", "slave", "population", "deport", "redeem", "digress", "penny", "cousin", "beef", "Bible", "fuss",
- "urgency", "tasty", "innovation", "upset", "gold", "day", "remunerate", "strain", "district", "panel", "choke", "rack", "parameter", "despair", "extort", "country",
- "hesitate", "record", "brand", "confusion", "discreet", "accept", "lifestyle", "option", "corn", "charity", "miss", "viable", "glance", "norm", "meet", "bird",
- "ribbon", "guideline"
- };
-
- int i = generateRandom(words.size(), 0);
- std::string key = words.at(i);
-
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord(usedKeys);
- }
-
- return key;
- }
-
- std::vector<unsigned char> generateRandomBlob(unsigned int size)
- {
- std::vector<unsigned char> new_blob(size, 0);
- for (unsigned int i = 0; i < size; ++i)
- {
- new_blob[i] = (generateRandom(128, 0));
- }
- return new_blob;
- }
- }
-
- class Randomizer
- {
- public:
- Randomizer()
- {
- std::srand(std::time(nullptr));
- };
-
- type::VariantPtr generateRandomType(bool allowMaybeType = false, bool firstObject = false) const
- {
- type::Descriptor nextType = type::Descriptor::eObject;
- if (!firstObject)
- {
- nextType = util::getRandomElement(type::AllDescriptors);
- }
-
- type::Maybe nextMaybeType = type::Maybe::eNone;
- if (allowMaybeType && !firstObject)
- {
- nextMaybeType = util::getRandomElement(type::AllMaybeTypes);
- }
- (void) nextMaybeType; //unused
-
- switch (nextType)
- {
- case type::Descriptor::eAnyObject: [[fallthrough]];
- case type::Descriptor::eObject:
- {
- std::string objectName = util::generateRandomWord();
-
- int members = util::generateRandom(4, 2);
- std::set<std::string> usedKeys = {objectName};
- std::map<std::string, type::VariantPtr> elements;
- for (int i = 0; i < members; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- type::VariantPtr m = generateRandomType(false);
- elements.insert({key, m});
- }
-
- auto t = std::make_shared<type::Object>(objectName, std::vector<std::string>(), std::vector<std::string>(), elements);
- return t;
- }
- case type::Descriptor::eIntEnum:
- {
- std::string intEnumName = util::generateRandomWord();
-
- std::set<std::string> usedKeys = {intEnumName};
- std::map<std::string, int> acceptedValues;
- for (int i = 0; i < util::generateRandom(5, 2); ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
-
- acceptedValues.insert({key, i});
- }
- auto t = std::make_shared<type::IntEnum>(intEnumName, acceptedValues);
- return t;
- }
- case type::Descriptor::eDict:
- {
- type::VariantPtr a = generateRandomType(false);
- auto t = std::make_shared<type::Dict>(a);
- return t;
- }
- case type::Descriptor::eTuple:
- {
- int members = util::generateRandom(4, 2);
- std::vector<type::VariantPtr> acceptedTypes;
- for (int i = 0; i < members; ++i)
- {
- type::VariantPtr m = generateRandomType(false);
- acceptedTypes.push_back(m);
- }
-
- auto t = std::make_shared<type::Tuple>(acceptedTypes);
- return t;
- }
- case type::Descriptor::eList:
- {
- type::VariantPtr a = generateRandomType(false);
-
- auto t = std::make_shared<type::List>(a);
- return t;
- }
- case type::Descriptor::ePair:
- {
- type::VariantPtr a = generateRandomType(false);
- type::VariantPtr b = generateRandomType(false);
-
- auto t = std::make_shared<type::Pair>(a,b);
- return t;
- }
- case type::Descriptor::eNDArray:
- {
- // TODO (fabian.peller)
- // fall through EigenMatrix
- }
- case type::Descriptor::eMatrix:
- {
- auto t = std::make_shared<type::Matrix>();
- auto type = util::getRandomElement(type::matrix::AllTypes);
- t->setElementType(type);
- t->setRows(util::generateRandom(10, 1));
- t->setRows(util::generateRandom(10, 1));
- return t;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = std::make_shared<type::Quaternion>();
- auto type = util::getRandomElement(type::quaternion::AllTypes);
- t->setElementType(type);
- return t;
- }
- case type::Descriptor::eImage:
- {
- auto t = std::make_shared<type::Image>();
- auto type = util::getRandomElement(type::image::AllTypes);
- t->setPixelType(type);
- return t;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = std::make_shared<type::PointCloud>();
- auto type = util::getRandomElement(type::pointcloud::AllTypes);
- t->setVoxelType(type);
- return t;
- }
- case type::Descriptor::ePosition:
- {
- auto t = std::make_shared<type::Position>();
- return t;
- }
- case type::Descriptor::eOrientation:
- {
- auto t = std::make_shared<type::Position>();
- return t;
- }
- case type::Descriptor::ePose:
- {
- auto t = std::make_shared<type::Position>();
- return t;
- }
- case type::Descriptor::eInt:
- {
- auto t = std::make_shared<type::Int>();
- return t;
- }
- case type::Descriptor::eLong:
- {
- auto t = std::make_shared<type::Long>();
- return t;
- }
- case type::Descriptor::eFloat:
- {
- auto t = std::make_shared<type::Float>();
- return t;
- }
- case type::Descriptor::eDouble:
- {
- auto t = std::make_shared<type::Double>();
- return t;
- }
- case type::Descriptor::eString:
- {
- auto t = std::make_shared<type::String>();
- return t;
- }
- case type::Descriptor::eBool:
- {
- auto t = std::make_shared<type::Bool>();
- return t;
- }
- case type::Descriptor::eTime:
- {
- auto t = std::make_shared<type::Time>();
- return t;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
- }
-
- data::VariantPtr generateEmptyAronDataFromType(const type::VariantPtr& type, bool ignore_maybe = false) const
- {
- if (type->getMaybe() != type::Maybe::eNone && !ignore_maybe)
- {
- if (util::fiftyPercentChance())
- {
- return nullptr;
- }
- }
-
- const type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- // In an object, we do not want to edit the keys.
- case type::Descriptor::eObject:
- {
- type::ObjectPtr t = type::Object::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Dict>();
- for (const auto& [k, tt] : t->getMemberTypes())
- {
- d->addElement(k, generateEmptyAronDataFromType(tt));
- }
- return d;
- }
-
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::Int>();
- return d;
- }
-
- // here all totally random
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Dict());
- }
-
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::List());
- }
-
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({(int) t->getRows(), (int) t->getCols(), aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp.at(t->getElementType()).second});
- d->setType(aron::codegenerator::cpp::generator::Matrix::ElementType2Cpp.at(t->getElementType()).first);
- return d;
- }
-
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({1, 4, aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp.at(t->getElementType()).second});
- d->setType(aron::codegenerator::cpp::generator::Quaternion::ElementType2Cpp.at(t->getElementType()).first);
- return d;
- }
-
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({util::generateRandom(10, 1), util::generateRandom(10, 1), aron::codegenerator::cpp::generator::Image::PixelType2Cpp.at(t->getPixelType()).second});
- d->setType("5");
- return d;
- }
-
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({util::generateRandom(10, 1), util::generateRandom(10, 1), aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp.at(t->getVoxelType()).second});
- d->setType(aron::codegenerator::cpp::generator::PointCloud::VoxelType2Cpp.at(t->getVoxelType()).first);
- return d;
- }
-
- case type::Descriptor::ePose:
- {
- auto t = type::Pose::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({4, 4, 4});
- d->setType("float");
- return d;
- }
-
- case type::Descriptor::ePosition:
- {
- auto t = type::Position::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({3, 1, 4});
- d->setType("float");
- return d;
- }
-
- case type::Descriptor::eOrientation:
- {
- auto t = type::Orientation::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- d->setShape({1, 4, 4});
- d->setType("float");
- return d;
- }
-
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = std::make_shared<data::NDArray>();
- return d;
- }
-
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Int());
- }
-
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Long());
- }
-
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Float());
- }
-
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Double());
- }
-
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::String());
- }
-
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Bool());
- }
-
- case type::Descriptor::eTime:
- {
- auto t = type::Time::DynamicCastAndCheck(type);
- return data::VariantPtr(new data::Long());
- }
-
- default:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
- }
-
- void initializeRandomly(data::VariantPtr& data, const type::VariantPtr& type, bool use_existing_data = true) const
- {
- if (!use_existing_data)
- {
- data = generateEmptyAronDataFromType(type);
- }
- if (!data)
- {
- if (type->getMaybe() == type::Maybe::eNone)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The data is null but the type is not a maybe type. This is not valid.");
- }
- return;
- }
-
- // Containers
- type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eAnyObject: [[fallthrough]];
- case type::Descriptor::eObject:
- {
- auto t = type::Object::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eList:
- {
- auto t = type::List::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDict:
- {
- auto t = type::Dict::DynamicCastAndCheck(type);
- auto d = data::Dict::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTuple:
- {
- auto t = type::Tuple::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePair:
- {
- auto t = type::Pair::DynamicCastAndCheck(type);
- auto d = data::List::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eIntEnum:
- {
- auto t = type::IntEnum::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eMatrix:
- {
- auto t = type::Matrix::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eNDArray:
- {
- auto t = type::NDArray::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eOrientation:
- {
- auto t = type::Orientation::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eQuaternion:
- {
- auto t = type::Quaternion::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eImage:
- {
- auto t = type::Image::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePointCloud:
- {
- auto t = type::PointCloud::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePosition:
- {
- auto t = type::Position::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::ePose:
- {
- auto t = type::Pose::DynamicCastAndCheck(type);
- auto d = data::NDArray::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eInt:
- {
- auto t = type::Int::DynamicCastAndCheck(type);
- auto d = data::Int::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eLong:
- {
- auto t = type::Long::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eFloat:
- {
- auto t = type::Float::DynamicCastAndCheck(type);
- auto d = data::Float::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eDouble:
- {
- auto t = type::Double::DynamicCastAndCheck(type);
- auto d = data::Double::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eString:
- {
- auto t = type::String::DynamicCastAndCheck(type);
- auto d = data::String::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eBool:
- {
- auto t = type::Bool::DynamicCastAndCheck(type);
- auto d = data::Bool::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eTime:
- {
- auto t = type::Time::DynamicCastAndCheck(type);
- auto d = data::Long::DynamicCastAndCheck(data);
- initializeRandomly(d, *t);
- break;
- }
- case type::Descriptor::eUnknown:
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No valid type found!");
- }
- }
-
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Object& type, bool use_existing_data = true) const
- {
- for (auto& [key, nextData] : data->getElements())
- {
- initializeRandomly(nextData, type.getMemberTypes()[key], use_existing_data);
- data->removeElement(key);
- data->addElement(key, nextData);
- }
- }
-
- void initializeRandomly(data::DictPtr& data, const type::Dict& type, bool use_existing_data = true) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- std::set<std::string> usedKeys;
- for (int i = 0; i < numElements; ++i)
- {
- std::string key = util::generateRandomWord(usedKeys);
- usedKeys.insert(key);
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType(), use_existing_data);
- data->addElement(key, newData);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Tuple& type, bool use_existing_data = true) const
- {
- std::vector<data::VariantPtr> newElements;
-
- unsigned int i = 0;
- for (auto& nextData : data->getElements())
- {
- initializeRandomly(nextData, type.getAcceptedType(i++), use_existing_data);
- newElements.push_back(nextData);
- }
-
- data->clear();
- for (const auto& el : newElements)
- {
- data->addElement(el);
- }
- }
-
- void initializeRandomly(data::ListPtr& data, const type::Pair& type, bool use_existing_data = true) const
- {
- data::VariantPtr first = data->getElement(0);
- data::VariantPtr second = data->getElement(1);
- initializeRandomly(first, type.getFirstAcceptedType(), use_existing_data);
- initializeRandomly(second, type.getSecondAcceptedType(), use_existing_data);
-
- data->clear();
- data->addElement(first);
- data->addElement(second);
- }
-
- void initializeRandomly(data::ListPtr& data, const type::List& type, bool use_existing_data = true) const
- {
- data->clear();
- int numElements = util::generateRandom(5, 1);
- for (int i = 0; i < numElements; ++i)
- {
- data::VariantPtr newData = generateEmptyAronDataFromType(type.getAcceptedType());
- initializeRandomly(newData, type.getAcceptedType(), use_existing_data);
- data->addElement(newData);
- }
- }
-
- void initializeRandomly(data::NDArrayPtr& data, const type::Variant& type) const
- {
- std::vector<int> dims = data->getShape();
- if (!dims.empty())
- {
- int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
- std::vector<unsigned char> blob = util::generateRandomBlob(bytes);
- data->setData(bytes, blob.data());
- }
- }
-
- void initializeRandomly(data::IntPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::LongPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::FloatPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::DoublePtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandom(1000, -1000));
- }
-
- void initializeRandomly(data::BoolPtr& data, const type::Variant& type) const
- {
- data->setValue(util::fiftyPercentChance());
- }
-
- void initializeRandomly(data::StringPtr& data, const type::Variant& type) const
- {
- data->setValue(util::generateRandomWord());
- }
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
index a0962322d5dbf4daf8557baf2d1b33dc41f35a56..e166ab4327c0dd9f8f800a6a0eadea3bf001408a 100644
--- a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
@@ -160,14 +160,6 @@ namespace armarx::aron::type
last_returned = w.writeMatrix(rows, cols, type, maybe, p);
};
- void visitOrientation(ReaderInputType& o) final
- {
- type::Maybe maybe;
- Path p;
- r.readOrientation(o, maybe, p);
- last_returned = w.writeOrientation(maybe, p);
- };
-
void visitQuaternion(ReaderInputType& o) final
{
type::Maybe maybe;
@@ -177,22 +169,6 @@ namespace armarx::aron::type
last_returned = w.writeQuaternion(type, maybe, p);
};
- void visitPosition(ReaderInputType& o) final
- {
- type::Maybe maybe;
- Path p;
- r.readPosition(o, maybe, p);
- last_returned = w.writePosition(maybe, p);
- };
-
- void visitPose(ReaderInputType& o) final
- {
- type::Maybe maybe;
- Path p;
- r.readPose(o, maybe, p);
- last_returned = w.writePose(maybe, p);
- };
-
void visitImage(ReaderInputType& o) final
{
type::Maybe maybe;
@@ -269,14 +245,6 @@ namespace armarx::aron::type
last_returned = w.writeString(maybe, p);
};
- void visitTime(ReaderInputType& o) final
- {
- type::Maybe maybe;
- Path p;
- r.readTime(o, maybe, p);
- last_returned = w.writeTime(maybe, p);
- };
-
void visitUnknown(ReaderInputType& o) final
{
if (!r.readNull(o))
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
index b59a2015732ff17b44d28cdb32e65a2bb9930984..790a0d9fb7f9ed77f00ca40686582db063fd3fbe 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
@@ -75,15 +75,6 @@ namespace armarx::aron::type
/// Extract information from an image type
virtual void readImage(const InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p) = 0;
- /// Extract information from a position type
- virtual void readPosition(const InputType& input, type::Maybe& maybe, Path& p) = 0;
-
- /// Extract information from an orientation type
- virtual void readOrientation(const InputType& input, type::Maybe& maybe, Path& p) = 0;
-
- /// Extract information from a pose type
- virtual void readPose(const InputType& input, type::Maybe& maybe, Path& p) = 0;
-
/// Extract information from an int enum type
virtual void readIntEnum(const InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p) = 0;
@@ -105,9 +96,6 @@ namespace armarx::aron::type
/// Extract information from an bool type
virtual void readBool(const InputType& input, type::Maybe& maybe, Path& p) = 0;
- /// Extract information from an time type
- virtual void readTime(const InputType& input, type::Maybe& maybe, Path& p) = 0;
-
/// Extract information from an time type
virtual void readAnyObject(const InputType& input, type::Maybe& maybe, Path& p) = 0;
@@ -119,7 +107,7 @@ namespace armarx::aron::type
}
// Convenience methods without path
- void readObject(const InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe)
+ /*void readObject(const InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe)
{
Path p;
return readObject(input, name, memberTypes, maybe, p);
@@ -179,24 +167,6 @@ namespace armarx::aron::type
return readImage(input, type, maybe, p);
}
- void readPosition(const InputType& input, type::Maybe& maybe)
- {
- Path p;
- return readPosition(input, maybe, p);
- }
-
- void readOrientation(const InputType& input, type::Maybe& maybe)
- {
- Path p;
- return readOrientation(input, maybe, p);
- }
-
- void readPose(const InputType& input, type::Maybe& maybe)
- {
- Path p;
- return readPose(input, maybe, p);
- }
-
void readIntEnum(const InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe)
{
Path p;
@@ -239,11 +209,11 @@ namespace armarx::aron::type
return readBool(input, maybe, p);
}
- void readTime(const InputType& input, type::Maybe& maybe)
+ void readAnyObject(const InputType& input, type::any::AnyObjectType& t, type::Maybe& maybe)
{
Path p;
- return readTime(input, maybe, p);
- }
+ return readBool(input, t, maybe, p);
+ }*/
};
template <class T>
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
index c0eb1d8bf6114b43f9490f292f01e533c3b2a2e9..5cba5dd672c7a2ebcde343485e64bc781ce26a1f 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
@@ -76,15 +76,6 @@ namespace armarx::aron::type
/// Construct a pointcloud from the params
virtual ReturnType writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe, const Path& p) = 0;
- /// Construct a position from the params
- virtual ReturnType writePosition(const type::Maybe maybe, const Path& p) = 0;
-
- /// Construct a orientation from the params
- virtual ReturnType writeOrientation(const type::Maybe maybe, const Path& p) = 0;
-
- /// Construct a pose from the params
- virtual ReturnType writePose(const type::Maybe maybe, const Path& p) = 0;
-
/// Construct a int enum from the params
virtual ReturnType writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe, const Path& p) = 0;
@@ -106,9 +97,6 @@ namespace armarx::aron::type
/// Construct a bool from the params
virtual ReturnType writeBool(const type::Maybe maybe, const Path& p) = 0;
- /// Construct a time from the params
- virtual ReturnType writeTime(const type::Maybe maybe, const Path& p) = 0;
-
/// Construct a time from the params
virtual ReturnType writeAnyObject(const type::Maybe maybe, const Path& p) = 0;
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h b/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
index 2bbec89c47d1ead43478c7f7ab2d8c21fc86c187..a3dbadf76ff6c5d74e20f9b4ad66ae25b171d9aa 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/json/Data.h
@@ -61,11 +61,8 @@ namespace armarx::aron::type::rw::json
const std::string NDARRAY_TYPENAME_SLUG = "_ARON_NDARRAY";
const std::string IMAGE_TYPENAME_SLUG = "_ARON_IMAGE";
const std::string MATRIX_TYPENAME_SLUG = "_ARON_MATRIX";
- const std::string ORIENTATION_TYPENAME_SLUG = "_ARON_ORIENTATION";
- const std::string POINT_CLOUD_TYPENAME_SLUG = "_ARON_POINT_CLOUD";
- const std::string POSE_TYPENAME_SLUG = "_ARON_POSE";
- const std::string POSITION_TYPENAME_SLUG = "_ARON_POSITION";
const std::string QUATERNION_TYPENAME_SLUG = "_ARON_QUATERNION";
+ const std::string POINT_CLOUD_TYPENAME_SLUG = "_ARON_POINT_CLOUD";
const std::string INT_ENUM_TYPENAME_SLUG = "_ARON_INT_ENUM";
const std::string INT_TYPENAME_SLUG = "_ARON_INT";
const std::string LONG_TYPENAME_SLUG = "_ARON_LONG";
@@ -80,87 +77,83 @@ namespace armarx::aron::type::rw::json
namespace conversion
{
const std::map<type::Descriptor, std::string> Descriptor2String = {
- {type::Descriptor::eDict, rw::json::constantes::DICT_TYPENAME_SLUG},
- {type::Descriptor::eList, rw::json::constantes::LIST_TYPENAME_SLUG},
- {type::Descriptor::ePair, rw::json::constantes::PAIR_TYPENAME_SLUG},
- {type::Descriptor::eTuple, rw::json::constantes::TUPLE_TYPENAME_SLUG},
- {type::Descriptor::eObject, rw::json::constantes::OBJECT_TYPENAME_SLUG},
- {type::Descriptor::eNDArray, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
- {type::Descriptor::eMatrix, rw::json::constantes::MATRIX_TYPENAME_SLUG},
- {type::Descriptor::eImage, rw::json::constantes::IMAGE_TYPENAME_SLUG},
- {type::Descriptor::ePointCloud, rw::json::constantes::POINT_CLOUD_TYPENAME_SLUG},
- {type::Descriptor::eQuaternion, rw::json::constantes::QUATERNION_TYPENAME_SLUG},
- {type::Descriptor::ePose, rw::json::constantes::POSE_TYPENAME_SLUG},
- {type::Descriptor::ePosition, rw::json::constantes::POSITION_TYPENAME_SLUG},
- {type::Descriptor::eOrientation, rw::json::constantes::ORIENTATION_TYPENAME_SLUG},
- {type::Descriptor::eIntEnum, rw::json::constantes::INT_ENUM_TYPENAME_SLUG},
- {type::Descriptor::eInt, rw::json::constantes::INT_TYPENAME_SLUG},
- {type::Descriptor::eLong, rw::json::constantes::LONG_TYPENAME_SLUG},
- {type::Descriptor::eFloat, rw::json::constantes::FLOAT_TYPENAME_SLUG},
- {type::Descriptor::eDouble, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
- {type::Descriptor::eBool, rw::json::constantes::BOOL_TYPENAME_SLUG},
- {type::Descriptor::eString, rw::json::constantes::STRING_TYPENAME_SLUG},
- {type::Descriptor::eTime, rw::json::constantes::TIME_TYPENAME_SLUG},
- {type::Descriptor::eAnyObject, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG}
+ {type::Descriptor::DICT, rw::json::constantes::DICT_TYPENAME_SLUG},
+ {type::Descriptor::LIST, rw::json::constantes::LIST_TYPENAME_SLUG},
+ {type::Descriptor::PAIR, rw::json::constantes::PAIR_TYPENAME_SLUG},
+ {type::Descriptor::TUPLE, rw::json::constantes::TUPLE_TYPENAME_SLUG},
+ {type::Descriptor::OBJECT, rw::json::constantes::OBJECT_TYPENAME_SLUG},
+ {type::Descriptor::NDARRAY, rw::json::constantes::NDARRAY_TYPENAME_SLUG},
+ {type::Descriptor::MATRIX, rw::json::constantes::MATRIX_TYPENAME_SLUG},
+ {type::Descriptor::IMAGE, rw::json::constantes::IMAGE_TYPENAME_SLUG},
+ {type::Descriptor::POINTCLOUD, rw::json::constantes::POINT_CLOUD_TYPENAME_SLUG},
+ {type::Descriptor::QUATERNION, rw::json::constantes::QUATERNION_TYPENAME_SLUG},
+ {type::Descriptor::INT_ENUM, rw::json::constantes::INT_ENUM_TYPENAME_SLUG},
+ {type::Descriptor::INT, rw::json::constantes::INT_TYPENAME_SLUG},
+ {type::Descriptor::LONG, rw::json::constantes::LONG_TYPENAME_SLUG},
+ {type::Descriptor::FLOAT, rw::json::constantes::FLOAT_TYPENAME_SLUG},
+ {type::Descriptor::DOUBLE, rw::json::constantes::DOUBLE_TYPENAME_SLUG},
+ {type::Descriptor::BOOL, rw::json::constantes::BOOL_TYPENAME_SLUG},
+ {type::Descriptor::STRING, rw::json::constantes::STRING_TYPENAME_SLUG},
+ {type::Descriptor::ANY_OBJECT, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG}
};
const auto String2Descriptor = aron::conversion::util::InvertMap(Descriptor2String);
const std::map<type::Maybe, std::string> Maybe2String =
{
- {type::Maybe::eNone, "type::maybe::none"},
- {type::Maybe::eOptional, "type::maybe::optional"},
- {type::Maybe::eRawPointer, "type::maybe::raw_ptr"},
- {type::Maybe::eSharedPointer, "type::maybe::shared_ptr"},
- {type::Maybe::eUniquePointer, "type::maybe::unique_ptr"}
+ {type::Maybe::NONE, "type::maybe::NONE"},
+ {type::Maybe::OPTIONAL, "type::maybe::OPTIONAL"},
+ {type::Maybe::RAW_PTR, "type::maybe::RAW_PTR"},
+ {type::Maybe::SHARED_PTR, "type::maybe::SHARED_PTR"},
+ {type::Maybe::UNIQUE_PTR, "type::maybe::UNIQUE_PTR"}
};
const auto String2Maybe = aron::conversion::util::InvertMap(Maybe2String);
const std::map<type::ndarray::ElementType, std::string> NDArrayType2String =
{
- {type::ndarray::ElementType::int8, "type::ndarray::int8"},
- {type::ndarray::ElementType::int16, "type::ndarray::int16"},
- {type::ndarray::ElementType::int32, "type::ndarray::int32"},
- {type::ndarray::ElementType::uint8, "type::ndarray::uint8"},
- {type::ndarray::ElementType::uint16, "type::ndarray::uint16"},
- {type::ndarray::ElementType::uint32, "type::ndarray::uint32"},
- {type::ndarray::ElementType::float32, "type::ndarray::float32"},
- {type::ndarray::ElementType::float64, "type::ndarray::float64"}
+ {type::ndarray::ElementType::INT8, "type::ndarray::INT8"},
+ {type::ndarray::ElementType::INT16, "type::ndarray::INT16"},
+ {type::ndarray::ElementType::INT32, "type::ndarray::INT32"},
+ {type::ndarray::ElementType::UINT8, "type::ndarray::UINT8"},
+ {type::ndarray::ElementType::UINT16, "type::ndarray::UINT16"},
+ {type::ndarray::ElementType::UINT32, "type::ndarray::UINT32"},
+ {type::ndarray::ElementType::FLOAT32, "type::ndarray::FLOAT32"},
+ {type::ndarray::ElementType::FLOAT64, "type::ndarray::FLOAT64"}
};
const auto String2NDArrayType = aron::conversion::util::InvertMap(NDArrayType2String);
const std::map<type::matrix::ElementType, std::string> MatrixType2String =
{
- {type::matrix::ElementType::int16, "type::matrix::int16"},
- {type::matrix::ElementType::int32, "type::matrix::int32"},
- {type::matrix::ElementType::int64, "type::matrix::int64"},
- {type::matrix::ElementType::float32, "type::matrix::float32"},
- {type::matrix::ElementType::float64, "type::matrix::float64"}
+ {type::matrix::ElementType::INT16, "type::matrix::INT16"},
+ {type::matrix::ElementType::INT32, "type::matrix::INT32"},
+ {type::matrix::ElementType::INT64, "type::matrix::INT64"},
+ {type::matrix::ElementType::FLOAT32, "type::matrix::FLOAT32"},
+ {type::matrix::ElementType::FLOAT64, "type::matrix::FLOAT64"}
};
const auto String2MatrixType = aron::conversion::util::InvertMap(MatrixType2String);
const std::map<type::quaternion::ElementType, std::string> QuaternionType2String =
{
- {type::quaternion::ElementType::float32, "type::quaternion::float32"},
- {type::quaternion::ElementType::float64, "type::quaternion::float64"}
+ {type::quaternion::ElementType::FLOAT32, "type::quaternion::FLOAT32"},
+ {type::quaternion::ElementType::FLOAT64, "type::quaternion::FLOAT64"}
};
const auto String2QuaternionType = aron::conversion::util::InvertMap(QuaternionType2String);
const std::map<type::image::PixelType, std::string> PixelType2String =
{
- {type::image::PixelType::rgb24, "type::image::rgb24"},
- {type::image::PixelType::depth32, "type::image::depth32"}
+ {type::image::PixelType::RGB24, "type::image::RGB24"},
+ {type::image::PixelType::DEPTH32, "type::image::DEPTH32"}
};
const auto String2PixelType = aron::conversion::util::InvertMap(PixelType2String);
const std::map<type::pointcloud::VoxelType, std::string> VoxelType2String =
{
- {type::pointcloud::VoxelType::PointXYZ, "type::pointcloud::pointxyz"},
- {type::pointcloud::VoxelType::PointXYZI, "type::pointcloud::pointxyzi"},
- {type::pointcloud::VoxelType::PointXYZL, "type::pointcloud::pointxyzl"},
- {type::pointcloud::VoxelType::PointXYZRGB, "type::pointcloud::pointxyzrgb"},
- {type::pointcloud::VoxelType::PointXYZRGBA, "type::pointcloud::pointxyzrgba"},
- {type::pointcloud::VoxelType::PointXYZRGBL, "type::pointcloud::pointxyzrgbl"},
- {type::pointcloud::VoxelType::PointXYZHSV, "type::pointcloud::pointxyzhsv"}
+ {type::pointcloud::VoxelType::POINT_XYZ, "type::pointcloud::POINT_XYZ"},
+ {type::pointcloud::VoxelType::POINT_XYZI, "type::pointcloud::POINT_XYZI"},
+ {type::pointcloud::VoxelType::POINT_XYZL, "type::pointcloud::POINT_XYZL"},
+ {type::pointcloud::VoxelType::POINT_XYZRGB, "type::pointcloud::POINT_XYZRGB"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBA, "type::pointcloud::POINT_XYZRGBA"},
+ {type::pointcloud::VoxelType::POINT_XYZRGBL, "type::pointcloud::POINT_XYZRGBL"},
+ {type::pointcloud::VoxelType::POINT_XYZHSV, "type::pointcloud::POINT_XYZHSV"}
};
const auto String2VoxelType = aron::conversion::util::InvertMap(VoxelType2String);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 23bbfa738571caffde68365cf5e62d52fbf2cddf..028b6681ce8ee3f57db6a33861eb0c28d4228811 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -159,27 +159,6 @@ namespace armarx::aron::type::reader
type = armarx::aron::type::rw::json::conversion::String2PixelType.at(t);
}
- void NlohmannJSONReader::readPosition(const nlohmann::json& input, type::Maybe& maybe, Path& p)
- {
- getAronMetaInformationForType(input, rw::json::constantes::POSITION_TYPENAME_SLUG, p);
-
- maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- }
-
- void NlohmannJSONReader::readOrientation(const nlohmann::json& input, type::Maybe& maybe, Path& p)
- {
- getAronMetaInformationForType(input, rw::json::constantes::ORIENTATION_TYPENAME_SLUG, p);
-
- maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- }
-
- void NlohmannJSONReader::readPose(const nlohmann::json& input, type::Maybe& maybe, Path& p)
- {
- getAronMetaInformationForType(input, rw::json::constantes::POSE_TYPENAME_SLUG, p);
-
- maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- }
-
void NlohmannJSONReader::readIntEnum(const nlohmann::json& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p)
{
getAronMetaInformationForType(input, rw::json::constantes::INT_ENUM_TYPENAME_SLUG, p);
@@ -232,13 +211,6 @@ namespace armarx::aron::type::reader
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
}
- void NlohmannJSONReader::readTime(const nlohmann::json& input, type::Maybe& maybe, Path& p)
- {
- getAronMetaInformationForType(input, rw::json::constantes::TIME_TYPENAME_SLUG, p);
-
- maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- }
-
void NlohmannJSONReader::readAnyObject(const nlohmann::json& input, type::Maybe& maybe, Path& p)
{
getAronMetaInformationForType(input, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG, p);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
index 6b8ea0ef0a0e38fa15aa97139fe922187987f7fe..3775977b41ff3bc07c6c7763ed87dc34123fb1aa 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -41,30 +41,26 @@ namespace armarx::aron::type::reader
type::Descriptor getDescriptor(InputType& input) final;
- void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p) override;
- void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p) override;
- void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p) override;
+ void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p) override;
- void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p) override;
- void readPosition(InputType& input, type::Maybe& maybe, Path& p) override;
- void readOrientation(InputType& input, type::Maybe& maybe, Path& p) override;
- void readPose(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readInt(InputType& input, type::Maybe& maybe, Path& p) override;
- void readLong(InputType& input, type::Maybe& maybe, Path& p) override;
- void readFloat(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDouble(InputType& input, type::Maybe& maybe, Path& p) override;
- void readString(InputType& input, type::Maybe& maybe, Path& p) override;
- void readBool(InputType& input, type::Maybe& maybe, Path& p) override;
- void readTime(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readInt(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readLong(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readFloat(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDouble(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readString(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readBool(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
void readAnyObject(InputType& input, type::Maybe& maybe, Path& p) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
index dae6ba15dba8f9a079fb232363d5f3c5cd89765f..452f240a5373678a3523dbe418d670e065e62423 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
@@ -144,33 +144,6 @@ namespace armarx::aron::type::reader
p = o->getPath();
}
- void VariantReader::readPosition(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
- {
- ARMARX_CHECK_NOT_NULL(input);
- auto o = type::Position::DynamicCastAndCheck(input);
-
- maybe = o->getMaybe();
- p = o->getPath();
- }
-
- void VariantReader::readOrientation(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
- {
- ARMARX_CHECK_NOT_NULL(input);
- auto o = type::Orientation::DynamicCastAndCheck(input);
-
- maybe = o->getMaybe();
- p = o->getPath();
- }
-
- void VariantReader::readPose(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
- {
- ARMARX_CHECK_NOT_NULL(input);
- auto o = type::Pose::DynamicCastAndCheck(input);
-
- maybe = o->getMaybe();
- p = o->getPath();
- }
-
void VariantReader::readIntEnum(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p)
{
ARMARX_CHECK_NOT_NULL(input);
@@ -236,15 +209,6 @@ namespace armarx::aron::type::reader
p = o->getPath();
}
- void VariantReader::readTime(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
- {
- ARMARX_CHECK_NOT_NULL(input);
- auto o = type::Time::DynamicCastAndCheck(input);
-
- maybe = o->getMaybe();
- p = o->getPath();
- }
-
void VariantReader::readAnyObject(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
{
ARMARX_CHECK_NOT_NULL(input);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
index 104a4643bd6d62dd0c720efcf3e0f0ddca6d695d..5b9d592c08b4e4b43d80b3f960d90e92288b01f6 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
@@ -42,31 +42,27 @@ namespace armarx::aron::type::reader
type::Descriptor getDescriptor(InputType& input) final;
- void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p) override;
- void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p) override;
- void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p) override;
- void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p) override;
+ void readObject(InputType& input, std::string& name, std::vector<std::string>& templates, std::vector<std::string>& templateInstantiations, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p) override;
- void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p) override;
- void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p) override;
- void readPosition(InputType& input, type::Maybe& maybe, Path& p) override;
- void readOrientation(InputType& input, type::Maybe& maybe, Path& p) override;
- void readPose(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readInt(InputType& input, type::Maybe& maybe, Path& p) override;
- void readLong(InputType& input, type::Maybe& maybe, Path& p) override;
- void readFloat(InputType& input, type::Maybe& maybe, Path& p) override;
- void readDouble(InputType& input, type::Maybe& maybe, Path& p) override;
- void readString(InputType& input, type::Maybe& maybe, Path& p) override;
- void readBool(InputType& input, type::Maybe& maybe, Path& p) override;
- void readTime(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readInt(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readLong(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readFloat(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readDouble(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readString(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
+ void readBool(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
- void readAnyObject(InputType& input, type::Maybe& maybe, Path& p) override;
+ void readAnyObject(InputType& input, type::Maybe& maybe, Path& p = *std::unique_ptr<Path>(new Path())) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 9a67e3b25d43a661808ec189d11af1b29dfddf6f..159c604b10c0e0bb4d761cc855538240e879abbe 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -147,27 +147,6 @@ namespace armarx::aron::type::writer
return o;
}
- nlohmann::json NlohmannJSONWriter::writePosition(const type::Maybe maybe, const Path& p)
- {
- nlohmann::json o;
- setupAronMetaInformationForType(o, rw::json::constantes::POSITION_TYPENAME_SLUG, maybe, p);
- return o;
- }
-
- nlohmann::json NlohmannJSONWriter::writeOrientation(const type::Maybe maybe, const Path& p)
- {
- nlohmann::json o;
- setupAronMetaInformationForType(o, rw::json::constantes::ORIENTATION_TYPENAME_SLUG, maybe, p);
- return o;
- }
-
- nlohmann::json NlohmannJSONWriter::writePose(const type::Maybe maybe, const Path& p)
- {
- nlohmann::json o;
- setupAronMetaInformationForType(o, rw::json::constantes::POSE_TYPENAME_SLUG, maybe, p);
- return o;
- }
-
nlohmann::json NlohmannJSONWriter::writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe, const Path& p)
{
nlohmann::json o;
@@ -224,13 +203,6 @@ namespace armarx::aron::type::writer
return o;
}
- nlohmann::json NlohmannJSONWriter::writeTime(const type::Maybe maybe, const Path& p)
- {
- nlohmann::json o;
- setupAronMetaInformationForType(o, rw::json::constantes::TIME_TYPENAME_SLUG, maybe, p);
- return o;
- }
-
nlohmann::json NlohmannJSONWriter::writeAnyObject(const type::Maybe maybe, const Path& p)
{
nlohmann::json o;
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
index 54570c30b0803bca03bfbd8fcfe9c7fa3b079d10..25e89bdf09322528c30aac0d94a41d6483497c25 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -52,9 +52,6 @@ namespace armarx::aron::type::writer
ReturnType writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeImage(const type::image::PixelType, const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writePosition(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeOrientation(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writePose(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe, const Path& p = Path()) override;
@@ -64,7 +61,6 @@ namespace armarx::aron::type::writer
ReturnType writeDouble(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeString(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeBool(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeTime(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeAnyObject(const type::Maybe maybe, const Path& p = Path()) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
index b96493423f70d01bbed2c440e2b0598b53333272..87af0839552de8e5a66a3e48bb2a95763f6636cb 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.cpp
@@ -114,27 +114,6 @@ namespace armarx::aron::type::writer
return o;
}
- aron::type::VariantPtr VariantWriter::writePosition(const type::Maybe maybe, const Path& p)
- {
- auto o = std::make_shared<type::Position>(p);
- o->setMaybe(maybe);
- return o;
- }
-
- aron::type::VariantPtr VariantWriter::writeOrientation(const type::Maybe maybe, const Path& p)
- {
- auto o = std::make_shared<type::Orientation>(p);
- o->setMaybe(maybe);
- return o;
- }
-
- aron::type::VariantPtr VariantWriter::writePose(const type::Maybe maybe, const Path& p)
- {
- auto o = std::make_shared<type::Pose>(p);
- o->setMaybe(maybe);
- return o;
- }
-
aron::type::VariantPtr VariantWriter::writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe, const Path& p)
{
auto o = std::make_shared<type::IntEnum>(name, acceptedValues, p);
@@ -184,13 +163,6 @@ namespace armarx::aron::type::writer
return o;
}
- aron::type::VariantPtr VariantWriter::writeTime(const type::Maybe maybe, const Path& p)
- {
- auto o = std::make_shared<type::Time>(p);
- o->setMaybe(maybe);
- return o;
- }
-
aron::type::VariantPtr VariantWriter::writeAnyObject(const type::Maybe maybe, const Path& p)
{
auto o = std::make_shared<type::AnyObject>(p);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
index 9f2e15cdd3265f4fba03a0ae48ee303c67a7fe7a..92fea0d713c496a4b09915dc392252a5c8c9275a 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
@@ -48,9 +48,6 @@ namespace armarx::aron::type::writer
ReturnType writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeImage(const type::image::PixelType, const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writePosition(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeOrientation(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writePose(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe, const Path& p = Path()) override;
@@ -60,7 +57,6 @@ namespace armarx::aron::type::writer
ReturnType writeDouble(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeString(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeBool(const type::Maybe maybe, const Path& p = Path()) override;
- ReturnType writeTime(const type::Maybe maybe, const Path& p = Path()) override;
ReturnType writeAnyObject(const type::Maybe maybe, const Path& p = Path()) override;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
index 3d7ca9846e890fe4cd14020b70490788bde2bea4..405a5e7487213fc8097acc09986a8012b81edfad 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
@@ -37,29 +37,25 @@ namespace armarx::aron::type
auto descriptor = type::Aron2Descriptor(aron);
switch(descriptor)
{
- case type::Descriptor::eList: return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron), path);
- case type::Descriptor::eDict: return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron), path);
- case type::Descriptor::ePair: return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron), path);
- case type::Descriptor::eTuple: return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron), path);
- case type::Descriptor::eObject: return std::make_unique<type::Object>(dynamic_cast<const type::dto::AronObject&>(aron), path);
- case type::Descriptor::eNDArray: return std::make_unique<type::NDArray>(dynamic_cast<const type::dto::NDArray&>(aron), path);
- case type::Descriptor::eMatrix: return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron), path);
- case type::Descriptor::eImage: return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron), path);
- case type::Descriptor::eOrientation: return std::make_unique<type::Orientation>(dynamic_cast<const type::dto::Orientation&>(aron), path);
- case type::Descriptor::ePointCloud: return std::make_unique<type::PointCloud>(dynamic_cast<const type::dto::PointCloud&>(aron), path);
- case type::Descriptor::ePose: return std::make_unique<type::Pose>(dynamic_cast<const type::dto::Pose&>(aron), path);
- case type::Descriptor::ePosition: return std::make_unique<type::Position>(dynamic_cast<const type::dto::Position&>(aron), path);
- case type::Descriptor::eQuaternion: return std::make_unique<type::Quaternion>(dynamic_cast<const type::dto::Quaternion&>(aron), path);
- case type::Descriptor::eIntEnum: return std::make_unique<type::IntEnum>(dynamic_cast<const type::dto::IntEnum&>(aron), path);
- case type::Descriptor::eInt: return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron), path);
- case type::Descriptor::eLong: return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron), path);
- case type::Descriptor::eFloat: return std::make_unique<type::Float>(dynamic_cast<const type::dto::AronFloat&>(aron), path);
- case type::Descriptor::eDouble: return std::make_unique<type::Double>(dynamic_cast<const type::dto::AronDouble&>(aron), path);
- case type::Descriptor::eString: return std::make_unique<type::String>(dynamic_cast<const type::dto::AronString&>(aron), path);
- case type::Descriptor::eBool: return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron), path);
- case type::Descriptor::eTime: return std::make_unique<type::Time>(dynamic_cast<const type::dto::AronTime&>(aron), path);
- case type::Descriptor::eAnyObject: return std::make_unique<type::AnyObject>(dynamic_cast<const type::dto::AnyObject&>(aron), path);
- case type::Descriptor::eUnknown: break;
+ case type::Descriptor::LIST: return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron), path);
+ case type::Descriptor::DICT: return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron), path);
+ case type::Descriptor::PAIR: return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron), path);
+ case type::Descriptor::TUPLE: return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron), path);
+ case type::Descriptor::OBJECT: return std::make_unique<type::Object>(dynamic_cast<const type::dto::AronObject&>(aron), path);
+ case type::Descriptor::NDARRAY: return std::make_unique<type::NDArray>(dynamic_cast<const type::dto::NDArray&>(aron), path);
+ case type::Descriptor::MATRIX: return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron), path);
+ case type::Descriptor::IMAGE: return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron), path);
+ case type::Descriptor::POINTCLOUD: return std::make_unique<type::PointCloud>(dynamic_cast<const type::dto::PointCloud&>(aron), path);
+ case type::Descriptor::QUATERNION: return std::make_unique<type::Quaternion>(dynamic_cast<const type::dto::Quaternion&>(aron), path);
+ case type::Descriptor::INT_ENUM: return std::make_unique<type::IntEnum>(dynamic_cast<const type::dto::IntEnum&>(aron), path);
+ case type::Descriptor::INT: return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron), path);
+ case type::Descriptor::LONG: return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron), path);
+ case type::Descriptor::FLOAT: return std::make_unique<type::Float>(dynamic_cast<const type::dto::AronFloat&>(aron), path);
+ case type::Descriptor::DOUBLE: return std::make_unique<type::Double>(dynamic_cast<const type::dto::AronDouble&>(aron), path);
+ case type::Descriptor::STRING: return std::make_unique<type::String>(dynamic_cast<const type::dto::AronString&>(aron), path);
+ case type::Descriptor::BOOL: return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron), path);
+ case type::Descriptor::ANY_OBJECT: return std::make_unique<type::AnyObject>(dynamic_cast<const type::dto::AnyObject&>(aron), path);
+ case type::Descriptor::UNKNOWN: break;
}
throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Got an unknown descriptor", std::to_string((int) descriptor) + " aka " + defaultconversion::string::Descriptor2String.at(descriptor), path);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp b/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
index bd53947d9127c7862c9c2f6306b003e26c6fffa1..78a17d080b78cd1d4989a38ee8e888d66ab63d84 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/any/AnyObject.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
AnyObject::AnyObject(const Path& path) :
- detail::AnyVariant<type::dto::AnyObject, AnyObject>(type::Descriptor::eAnyObject, path)
+ detail::AnyVariant<type::dto::AnyObject, AnyObject>(type::Descriptor::ANY_OBJECT, path)
{
}
AnyObject::AnyObject(const type::dto::AnyObject&o, const Path& path) :
- detail::AnyVariant<type::dto::AnyObject, AnyObject>(o, type::Descriptor::eAnyObject, path)
+ detail::AnyVariant<type::dto::AnyObject, AnyObject>(o, type::Descriptor::ANY_OBJECT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
index 3919bf8447c76e594ca0873277b24626ae4d4ffb..482c762d1426fef9c589a5c49e1ef14689cb6dcd 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
@@ -29,14 +29,14 @@ namespace armarx::aron::type
{
// constructors
Dict::Dict(const VariantPtr& acceptedType, const Path& path) :
- detail::ContainerVariant<type::dto::Dict, Dict>(type::Descriptor::eDict, path),
+ detail::ContainerVariant<type::dto::Dict, Dict>(type::Descriptor::DICT, path),
acceptedType(acceptedType)
{
aron->acceptedType = acceptedType->toAronDTO();
}
Dict::Dict(const type::dto::Dict& o, const Path& path) :
- detail::ContainerVariant<type::dto::Dict, Dict>(o, type::Descriptor::eDict, path),
+ detail::ContainerVariant<type::dto::Dict, Dict>(o, type::Descriptor::DICT, path),
acceptedType(FromAronDTO(*o.acceptedType, path.withAcceptedType()))
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
index 807d64fedf211b1d14949ece0409ab2baea952bb..7ee464bc121f8059dcd075dc29752e32be9761d4 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
@@ -28,14 +28,14 @@ namespace armarx::aron::type
{
// constructors
List::List(const VariantPtr& acceptedType, const Path& path) :
- detail::ContainerVariant<type::dto::List, List>(type::Descriptor::eList, path),
+ detail::ContainerVariant<type::dto::List, List>(type::Descriptor::LIST, path),
acceptedType(acceptedType)
{
aron->acceptedType = acceptedType->toAronDTO();
}
List::List(const type::dto::List& o, const Path& path) :
- detail::ContainerVariant<type::dto::List, List>(o, type::Descriptor::eList, path),
+ detail::ContainerVariant<type::dto::List, List>(o, type::Descriptor::LIST, path),
acceptedType(FromAronDTO(*o.acceptedType, path.withAcceptedType()))
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
index eb27eedcdb74c99f04003f0b0d143add11527bc7..526cc9f053d5e7bbf1e96c5f38bbe1f49a52cfbe 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -34,7 +34,7 @@ namespace armarx::aron::type
// constructors
Object::Object(const std::string& name, const std::vector<std::string>& templates, const std::vector<std::string>& templateInstantiations, const std::map<std::string, VariantPtr>& m, const Path& path) :
- detail::ContainerVariant<type::dto::AronObject, Object>(type::Descriptor::eObject, path),
+ detail::ContainerVariant<type::dto::AronObject, Object>(type::Descriptor::OBJECT, path),
memberTypes(m)
{
aron->templates = templates;
@@ -47,7 +47,7 @@ namespace armarx::aron::type
}
Object::Object(const type::dto::AronObject& o, const Path& path) :
- detail::ContainerVariant<type::dto::AronObject, Object>(o, type::Descriptor::eObject, path)
+ detail::ContainerVariant<type::dto::AronObject, Object>(o, type::Descriptor::OBJECT, path)
{
setObjectName(o.objectName);
for (const auto& [key, t] : o.elementTypes)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
index 48e0c6f4dea325fc7e58ecc0cede68cbb8138854..40b3cac3beb89df0323e08ffc681bde47ff29881 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
@@ -29,7 +29,7 @@ namespace armarx::aron::type
{
// constructors
Pair::Pair(const VariantPtr& acceptedType1, const VariantPtr& acceptedType2, const Path& path) :
- detail::ContainerVariant<type::dto::Pair, Pair>(type::Descriptor::ePair, path),
+ detail::ContainerVariant<type::dto::Pair, Pair>(type::Descriptor::PAIR, path),
acceptedType1(acceptedType1),
acceptedType2(acceptedType2)
{
@@ -38,7 +38,7 @@ namespace armarx::aron::type
}
Pair::Pair(const type::dto::Pair& o, const Path& path) :
- detail::ContainerVariant<type::dto::Pair, Pair>(o, type::Descriptor::ePair, path),
+ detail::ContainerVariant<type::dto::Pair, Pair>(o, type::Descriptor::PAIR, path),
acceptedType1(FromAronDTO(*o.acceptedType1, path.withAcceptedTypeIndex(0))),
acceptedType2(FromAronDTO(*o.acceptedType2, path.withAcceptedTypeIndex(1)))
{
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
index 9fdca45e77972d2e58066e4fe47b0d9b492f9f44..0879de17b8e9258a211646e2b7c8d7c4bdc37ace 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::type
{
// constructors
Tuple::Tuple(const std::vector<VariantPtr>& acceptedTypes, const Path& path) :
- detail::ContainerVariant<type::dto::Tuple, Tuple>(type::Descriptor::eTuple, path),
+ detail::ContainerVariant<type::dto::Tuple, Tuple>(type::Descriptor::TUPLE, path),
acceptedTypes(acceptedTypes)
{
for (const auto& acceptedType : acceptedTypes)
@@ -40,7 +40,7 @@ namespace armarx::aron::type
}
Tuple::Tuple(const type::dto::Tuple& o, const Path& path) :
- detail::ContainerVariant<type::dto::Tuple, Tuple>(o, type::Descriptor::eTuple, path)
+ detail::ContainerVariant<type::dto::Tuple, Tuple>(o, type::Descriptor::TUPLE, path)
{
unsigned int i = 0;
for (const auto& t : o.elementTypes)
diff --git a/source/RobotAPI/libraries/aron/core/test/Randomizer.cpp b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.cpp
similarity index 96%
rename from source/RobotAPI/libraries/aron/core/test/Randomizer.cpp
rename to source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.cpp
index e81ab45e0de25b7b307c43d40bc0a933da4bcfeb..6f4cdad288cdf994e6150f42816c715d1225f40e 100644
--- a/source/RobotAPI/libraries/aron/core/test/Randomizer.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.cpp
@@ -21,4 +21,5 @@
* GNU General Public License
*/
-#include "Randomizer.h"
+// Header
+#include "DtoVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
similarity index 56%
rename from source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h
rename to source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
index bd92b965d9c280979732d1f8d54389153a13573f..2fb240349254475021d75344a35d930c1aea09db 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
@@ -24,28 +24,40 @@
#pragma once
// STD/STL
+#include <memory>
#include <string>
+#include <unordered_map>
// Base class
-#include "../detail/PrimitiveVariant.h"
+#include "SpecializedVariant.h"
-namespace armarx::aron::type
+// ArmarX
+
+namespace armarx::aron::type::detail
{
- /**
- * @brief The Time class. It represents the time type
- */
- class Time :
- public detail::PrimitiveVariant<type::dto::AronTime, Time>
+ template<typename AronTypeT, typename DerivedT>
+ class DtoVariant :
+ public SpecializedVariantBase<AronTypeT, DerivedT>
{
public:
- /* constructors */
- Time(const Path& = Path());
- Time(const type::dto::AronTime&, const Path& = Path());
+ using SpecializedVariantBase<AronTypeT, DerivedT>::SpecializedVariantBase;
- type::dto::AronTimePtr toTimeDTO() const;
+ virtual ~DtoVariant() = default;
/* virtual implementations */
- virtual std::string getShortName() const override;
- virtual std::string getFullName() const override;
+ VariantPtr navigateAbsolute(const Path &path) const override
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Could not navigate through an dto navigator. The input path was: " + path.toString(), Variant::getPath());
+ }
+
+ std::vector<VariantPtr> getChildren() const override
+ {
+ return {};
+ }
+
+ size_t childrenSize() const override
+ {
+ return 0;
+ }
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
index 734509d9e3272271c0ca3baece597c6e5b1b8d7a..5ccace22723cbd9eb530064614339827cfcdd3ae 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
@@ -28,14 +28,14 @@ namespace armarx::aron::type
{
// constructors
IntEnum::IntEnum(const std::string& name, const std::map<std::string, int>& valueMap, const Path& path) :
- detail::EnumVariant<type::dto::IntEnum, IntEnum>(type::Descriptor::eIntEnum, path)
+ detail::EnumVariant<type::dto::IntEnum, IntEnum>(type::Descriptor::INT_ENUM, path)
{
aron->enumName = name;
aron->acceptedValues = valueMap;
}
IntEnum::IntEnum(const type::dto::IntEnum& o, const Path& path) :
- detail::EnumVariant<type::dto::IntEnum, IntEnum>(o, type::Descriptor::eIntEnum, path)
+ detail::EnumVariant<type::dto::IntEnum, IntEnum>(o, type::Descriptor::INT_ENUM, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
index 5a04a310f3b8268d5d3223fe7f602d8c27cf055b..ce0d34761f476da47b41db3afc6af464e7ac3146 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
@@ -16,14 +16,11 @@ namespace armarx::aron::type
using PairPtr = std::shared_ptr<class Pair>;
using TuplePtr = std::shared_ptr<class Tuple>;
- using PosePtr = std::shared_ptr<class Pose>;
using NDArrayPtr = std::shared_ptr<class NDArray>;
using MatrixPtr = std::shared_ptr<class Matrix>;
using QuaternionPtr = std::shared_ptr<class Quaternion>;
using ImagePtr = std::shared_ptr<class Image>;
- using OrientationPtr = std::shared_ptr<class Orientation>;
using PointCloudPtr = std::shared_ptr<class PointCloud>;
- using PositionPtr = std::shared_ptr<class Position>;
using IntEnumPtr = std::shared_ptr<class IntEnum>;
@@ -33,7 +30,6 @@ namespace armarx::aron::type
using DoublePtr = std::shared_ptr<class Double>;
using StringPtr = std::shared_ptr<class String>;
using BoolPtr = std::shared_ptr<class Bool>;
- using TimePtr = std::shared_ptr<class Time>;
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/All.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/All.h
index 0830c044a80e09cc51301e6de8718c7cc931b743..feab5f11257587eae2b81b6104f7a876132c0531 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/All.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/All.h
@@ -4,10 +4,7 @@
#include "Matrix.h"
#include "Quaternion.h"
#include "Image.h"
-#include "Orientation.h"
#include "PointCloud.h"
-#include "Pose.h"
-#include "Position.h"
/**
* A convenience header to include all ndarray aron files (full include, not forward declared)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.cpp
deleted file mode 100644
index 59b6ce80320bad3a197e74b6251cba0c8b1c209c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * 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
- */
-/*
-// Header
-#include "IVTCByteImage.h"
-
-namespace armarx::aron::typenavigator
-{
- // constructors
- IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::dto::GenericType>::Navigator(type::Descriptor::eIVTCByteImage, path)
- {
- }
-
- IVTCByteImageNavigator::IVTCByteImageNavigator(const type::dto::AronIVTCByteImagePtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::dto::GenericType>::Navigator(type::Descriptor::eIVTCByteImage, path),
- detail::NavigatorBase<type::dto::AronIVTCByteImage, IVTCByteImageNavigator>(o)
- {
- }
-
- // operators
- bool IVTCByteImageNavigator::operator==(const IVTCByteImageNavigator& other) const
- {
- if (getMaybe() != other.getMaybe())
- {
- return false;
- }
- return true;
- }
-
- type::dto::AronIVTCByteImagePtr IVTCByteImageNavigator::toAronIVTCByteImagePtr() const
- {
- return this->aron;
- }
-
- // virtual implementations
- std::string IVTCByteImageNavigator::getName() const
- {
- return "AronIVTCByteImageType";
- }
-}*/
-
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.h
deleted file mode 100644
index 0003ee5f52b0eeddc4c9f352a222e5665916f413..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/IVTCByteImage.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- * 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
-
-// STD/STL
-/*#include <string>
-#include <map>
-
-// Base class
-#include "../detail/NDArrayVariant.h"
-
-namespace armarx::aron::type
-{
- class IVTCByteImageNavigator;
- typedef std::shared_ptr<IVTCByteImageNavigator> IVTCByteImageNavigatorPtr;
-
- class IVTCByteImageNavigator :
- virtual public detail::NDArrayVariant<type::dto::AronIVTCByteImage, IVTCByteImageNavigator>
- {
- public:
- // constructors
- IVTCByteImageNavigator(const Path& path = Path());
- IVTCByteImageNavigator(const type::dto::AronIVTCByteImagePtr&, const Path& path);
-
- // operators
- virtual bool operator==(const IVTCByteImageNavigator&) const override;
-
- // public member functions
- type::dto::AronIVTCByteImagePtr toAronIVTCByteImagePtr() const;
-
- // virtual implementations
- virtual std::string getFullName() const override;
-
- public:
- const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
- {
- {"GrayScale", {"CByteImage::ImageType::eGrayScale", "ImageType::eGrayScale"}},
- {"RGB24", {"CByteImage::ImageType::eRGB24", "ImageType::eRGB24"}},
- {"RGB24Split", {"CByteImage::ImageType::eRGB24Split", "ImageType::eRGB24Split"}}
- };
- };
-}*/
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
index 987a85ce26779811ecba5296eb4743c1022b49f4..f5eed5e4ed7ff4d2fa0575563a8428ce58225d0e 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
@@ -33,21 +33,21 @@ namespace armarx::aron::type
{
const std::map<image::PixelType, std::string> Image::Pixeltype2String
{
- {image::PixelType::rgb24, "rgb24"},
- {image::PixelType::depth32, "depth32"}
+ {image::PixelType::RGB24, "RGB24"},
+ {image::PixelType::DEPTH32, "DEPTH32"}
};
const std::map<std::string, image::PixelType> Image::String2Pixeltype = conversion::util::InvertMap(Pixeltype2String);
// constructors
Image::Image(const Path& path) :
- detail::NDArrayVariant<type::dto::Image, Image>(type::Descriptor::eImage, path)
+ detail::NDArrayVariant<type::dto::Image, Image>(type::Descriptor::IMAGE, path)
{
}
Image::Image(const type::dto::Image& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Image, Image>(o, type::Descriptor::eImage, path)
+ detail::NDArrayVariant<type::dto::Image, Image>(o, type::Descriptor::IMAGE, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
index 62eabd986890eb92cd5bf9b050c887ff985da6d6..b7657a8719be955f833ef8658891a39ae23ca05e 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
@@ -31,32 +31,32 @@ namespace armarx::aron::type
{
const std::map<matrix::ElementType, std::string> Matrix::Elementtype2String
{
- {matrix::ElementType::int16, "int16"},
- {matrix::ElementType::int32, "int32"},
- {matrix::ElementType::int64, "int64"},
- {matrix::ElementType::float32, "float32"},
- {matrix::ElementType::float64, "float64"}
+ {matrix::ElementType::INT16, "INT16"},
+ {matrix::ElementType::INT32, "INT32"},
+ {matrix::ElementType::INT64, "INT64"},
+ {matrix::ElementType::FLOAT32, "FLOAT32"},
+ {matrix::ElementType::FLOAT64, "FLOAT64"}
};
const std::map<std::string, matrix::ElementType> Matrix::String2Elementtype = conversion::util::InvertMap(Elementtype2String);
// constructors
Matrix::Matrix(const Path& path) :
- detail::NDArrayVariant<type::dto::Matrix, Matrix>(type::Descriptor::eMatrix, path)
+ detail::NDArrayVariant<type::dto::Matrix, Matrix>(type::Descriptor::MATRIX, path)
{
}
Matrix::Matrix(const type::dto::Matrix& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Matrix, Matrix>(o, type::Descriptor::eMatrix, path)
+ detail::NDArrayVariant<type::dto::Matrix, Matrix>(o, type::Descriptor::MATRIX, path)
{
}
- unsigned int Matrix::getRows() const
+ int Matrix::getRows() const
{
return this->aron->rows;
}
- unsigned int Matrix::getCols() const
+ int Matrix::getCols() const
{
return this->aron->cols;
}
@@ -86,7 +86,7 @@ namespace armarx::aron::type
void Matrix::setElementType(const type::matrix::ElementType u)
{
- this->aron->elementType = u;;
+ this->aron->elementType = u;
}
type::dto::MatrixPtr Matrix::toMatrixDTO() const
@@ -102,7 +102,20 @@ namespace armarx::aron::type
std::string Matrix::getFullName() const
{
- return "armarx::aron::type::Matrix<" + std::to_string(this->aron->rows) + ", " + std::to_string(this->aron->cols) + ", " + Elementtype2String.at(this->aron->elementType) + ">";
+ std::string rows = std::to_string(aron->rows);
+ std::string cols = std::to_string(aron->cols);
+
+ if (aron->rows == -1)
+ {
+ rows = "Dynamic";
+ }
+
+ if (aron->cols == -1)
+ {
+ cols = "Dynamic";
+ }
+
+ return "armarx::aron::type::Matrix<" + rows + ", " + cols + ", " + Elementtype2String.at(this->aron->elementType) + ">";
}
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
index da9fd537dbcf62f9e17e54b9c42815009d408e8a..41dc008d34f29e0cabfc567416af6cbcc0588a5b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
@@ -44,8 +44,8 @@ namespace armarx::aron::type
Matrix(const Path& path = Path());
Matrix(const type::dto::Matrix&, const Path& path = Path());
- unsigned int getRows() const;
- unsigned int getCols() const;
+ int getRows() const;
+ int getCols() const;
type::matrix::ElementType getElementType() const;
void setRows(const int);
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
index cbbf517ba53d9e3d50342298b1c34b2652662216..bddbcf91cf100a0d60b49f30fc0bc075837756d5 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
@@ -28,12 +28,12 @@ namespace armarx::aron::type
{
// constructors
NDArray::NDArray(const Path& path) :
- detail::NDArrayVariant<type::dto::NDArray, NDArray>(type::Descriptor::eNDArray, path)
+ detail::NDArrayVariant<type::dto::NDArray, NDArray>(type::Descriptor::NDARRAY, path)
{
}
NDArray::NDArray(const type::dto::NDArray& o, const Path& path) :
- detail::NDArrayVariant<type::dto::NDArray, NDArray>(o, type::Descriptor::eNDArray, path)
+ detail::NDArrayVariant<type::dto::NDArray, NDArray>(o, type::Descriptor::NDARRAY, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.cpp
deleted file mode 100644
index 43ff6597293a6ce950b80905933bb28beafc6d47..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
- * 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
- */
-
-/*// Header
-#include "OpenCVMat.h"
-
-namespace armarx::aron::typenavigator
-{
-
- // constructors
- OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::dto::GenericType>::Navigator(type::Descriptor::eOpenCVMat, path)
- {
- }
-
-
- OpenCVMatNavigator::OpenCVMatNavigator(const type::dto::AronOpenCVMatPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::dto::GenericType>::Navigator(type::Descriptor::eOpenCVMat, path),
- detail::NavigatorBase<type::dto::AronOpenCVMat, OpenCVMatNavigator>(o)
- {
- }
-
-
- // operators
- bool OpenCVMatNavigator::operator==(const OpenCVMatNavigator& other) const
- {
- if (getMaybe() != other.getMaybe())
- {
- return false;
- }
- return true;
- }
-
-
- type::dto::AronOpenCVMatPtr OpenCVMatNavigator::toAronOpenCVMatPtr() const
- {
- return this->aron;
- }
-
-
- std::vector<int> OpenCVMatNavigator::getShape() const
- {
- return this->aron->shape;
- }
-
-
- void OpenCVMatNavigator::setShape(const std::vector<int>& shape) const
- {
- this->aron->shape = shape;
- }
-
-
- std::string OpenCVMatNavigator::getTypeName() const
- {
- return this->aron->typeName;
- }
-
-
- void OpenCVMatNavigator::setTypeName(const std::string& typeName)
- {
- this->aron->typeName = typeName;
- }
-
-
- // virtual implementations
- std::string OpenCVMatNavigator::getName() const
- {
- return "AronOpenCVMatType";
- }
-
-}*/
-
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.h
deleted file mode 100644
index d48a1b983722455b2066f9d23c35f9eeca4178f7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/OpenCVMat.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * 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
-
-/*// STD/STL
-#include <string>
-#include <map>
-
-// Base class
-#include "../detail/NDArrayVariant.h"
-
-
-namespace armarx::aron::typenavigator
-{
- class OpenCVMatNavigator;
- typedef std::shared_ptr<OpenCVMatNavigator> OpenCVMatNavigatorPtr;
-
- class OpenCVMatNavigator :
- virtual public detail::NDArrayNavigatorBase<type::dto::AronOpenCVMat, OpenCVMatNavigator>
- {
- public:
- // constructors
- OpenCVMatNavigator(const Path& path = Path());
- OpenCVMatNavigator(const type::dto::AronOpenCVMatPtr&, const Path& path);
-
- // operators
- virtual bool operator==(const OpenCVMatNavigator&) const override;
-
- // public member functions
- type::dto::AronOpenCVMatPtr toAronOpenCVMatPtr() const;
-
- std::vector<int> getShape() const;
- void setShape(const std::vector<int>& shape) const;
-
- std::string getTypeName() const;
- void setTypeName(const std::string& typeName);
-
- // virtual implementations
- virtual std::string getName() const override;
-
-
- public:
- const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
- {
- {"CV_8U", {"8U"}},
- {"CV_8S", {"8S"}},
- {"CV_16U", {"16U"}},
- {"CV_16S", {"16S"}},
- {"CV_32S", {"32S"}},
- {"CV_32F", {"32F"}},
- {"CV_64F", {"64F"}}
- };
- };
-}*/
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp
deleted file mode 100644
index 031fd6f73e7d2f924d8723107325cb16c3b57d46..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Orientation.h"
-
-namespace armarx::aron::type
-{
- // constructors
- Orientation::Orientation(const Path& path) :
- detail::NDArrayVariant<type::dto::Orientation, Orientation>(type::Descriptor::eOrientation, path)
- {
- }
-
- Orientation::Orientation(const type::dto::Orientation& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Orientation, Orientation>(o, type::Descriptor::eOrientation, path)
- {
- }
-
- type::dto::OrientationPtr Orientation::toOrientationDTO() const
- {
- return this->aron;
- }
-
- // virtual implementations
- std::string Orientation::getShortName() const
- {
- return "Orientation";
- }
-
- std::string Orientation::getFullName() const
- {
- return "armarx::aron::type::Orientation";
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
index 10a3473021b616c78cc7e88b2e45dc94226663bb..c28a750e26f5e7acf86bf0ebdc8fb9ad4fe48cc3 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
@@ -28,25 +28,25 @@ namespace armarx::aron::type
{
const std::map<pointcloud::VoxelType, std::string> PointCloud::Voxeltype2String
{
- {pointcloud::VoxelType::PointXYZ, "PointXYZ"},
- {pointcloud::VoxelType::PointXYZI, "PointXYZI"},
- {pointcloud::VoxelType::PointXYZL, "PointXYZL"},
- {pointcloud::VoxelType::PointXYZRGB, "PointXYZRGB"},
- {pointcloud::VoxelType::PointXYZRGBL, "PointXYZRGBL"},
- {pointcloud::VoxelType::PointXYZRGBA, "PointXYZRGBA"},
- {pointcloud::VoxelType::PointXYZHSV, "PointXYZHSV"}
+ {pointcloud::VoxelType::POINT_XYZ, "POINT_XYZ"},
+ {pointcloud::VoxelType::POINT_XYZI, "POINT_XYZI"},
+ {pointcloud::VoxelType::POINT_XYZL, "POINT_XYZL"},
+ {pointcloud::VoxelType::POINT_XYZRGB, "POINT_XYZRGB"},
+ {pointcloud::VoxelType::POINT_XYZRGBL, "POINT_XYZRGBL"},
+ {pointcloud::VoxelType::POINT_XYZRGBA, "POINT_XYZRGBA"},
+ {pointcloud::VoxelType::POINT_XYZHSV, "POINT_XYZHSV"}
};
const std::map<std::string, pointcloud::VoxelType> PointCloud::String2Voxeltype = conversion::util::InvertMap(Voxeltype2String);
// constructors
PointCloud::PointCloud(const Path& path) :
- detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(type::Descriptor::ePointCloud, path)
+ detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(type::Descriptor::POINTCLOUD, path)
{
}
PointCloud::PointCloud(const type::dto::PointCloud& o, const Path& path) :
- detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(o, type::Descriptor::ePointCloud, path)
+ detail::NDArrayVariant<type::dto::PointCloud, PointCloud>(o, type::Descriptor::POINTCLOUD, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp
deleted file mode 100644
index c6965c12ba714ef01242c4e1420a9579ec11aa4e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Pose.h"
-
-namespace armarx::aron::type
-{
- // constructors
- Pose::Pose(const Path& path) :
- detail::NDArrayVariant<type::dto::Pose, Pose>(type::Descriptor::ePose, path)
- {
- }
-
- Pose::Pose(const type::dto::Pose& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Pose, Pose>(o, type::Descriptor::ePose, path)
- {
- }
-
- type::dto::PosePtr Pose::toPoseDTO() const
- {
- return this->aron;
- }
-
- // virtual implementations
- std::string Pose::getShortName() const
- {
- return "Pose";
- }
-
- std::string Pose::getFullName() const
- {
- return "armarx::aron::type::Pose";
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h
deleted file mode 100644
index fa2c1f184799004ab64f875cfe3cb749d743b6c9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * 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
-
-// STD/STL
-#include <string>
-#include <map>
-
-// Base class
-#include "../detail/NDArrayVariant.h"
-
-namespace armarx::aron::type
-{
- /**
- * @brief The Pose class. It represents the pose type
- * It does not have any parameters since it is assumed to be similar to a 4x4 Matrix with float type
- */
- class Pose :
- public detail::NDArrayVariant<type::dto::Pose, Pose>
- {
- public:
- // constructors
- Pose(const Path& path = Path());
- Pose(const type::dto::Pose&, const Path& path = Path());
-
- // public member functions
- type::dto::PosePtr toPoseDTO() const;
-
- // virtual implementations
- std::string getShortName() const override;
- std::string getFullName() const override;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp
deleted file mode 100644
index 68effb684d71d5745e02df03e4a396ac00cc2551..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * 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
- */
-
-// Header
-#include "Position.h"
-
-namespace armarx::aron::type
-{
- // constructors
- Position::Position(const Path& path) :
- detail::NDArrayVariant<type::dto::Position, Position>(type::Descriptor::ePosition, path)
- {
- }
-
- Position::Position(const type::dto::Position& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Position, Position>(o, type::Descriptor::ePosition, path)
- {
- }
-
- type::dto::PositionPtr Position::toPositionDTO() const
- {
- return this->aron;
- }
-
- // virtual implementations
- std::string Position::getShortName() const
- {
- return "Position";
- }
-
- std::string Position::getFullName() const
- {
- return "armarx::aron::type::Position";
- }
-}
-
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h
deleted file mode 100644
index 427f0f43a6f5c32dd7b7d16950cbc301de3f309a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * 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
-
-// STD/STL
-#include <string>
-#include <map>
-
-// Base class
-#include "../detail/NDArrayVariant.h"
-
-namespace armarx::aron::type
-{
- /**
- * @brief The Position class. It represents the position type
- * It does not have any parameters since it is assumed to be a 3x1 Matrix with float type
- */
- class Position :
- public detail::NDArrayVariant<type::dto::Position, Position>
- {
- public:
- // constructors
- Position(const Path& path = Path());
- Position(const type::dto::Position&, const Path& path = Path());
-
- // public member functions
- type::dto::PositionPtr toPositionDTO() const;
-
- // virtual implementations
- std::string getShortName() const override;
- std::string getFullName() const override;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
index 5457ee84421cc570dda07881070f6f9249359b73..0e1ff22fc13e08f1bdcc3d15722feeb92d17fa61 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
@@ -30,19 +30,19 @@ namespace armarx::aron::type
{
const std::map<quaternion::ElementType, std::string> Quaternion::Elementtype2String =
{
- {quaternion::ElementType::float32, "float32"},
- {quaternion::ElementType::float64, "float64"}
+ {quaternion::ElementType::FLOAT32, "FLOAT32"},
+ {quaternion::ElementType::FLOAT64, "FLOAT64"}
};
const std::map<std::string, quaternion::ElementType> Quaternion::String2Elementtype = conversion::util::InvertMap(Elementtype2String);
// constructors
Quaternion::Quaternion(const Path& path) :
- detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(type::Descriptor::eQuaternion, path)
+ detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(type::Descriptor::QUATERNION, path)
{
}
Quaternion::Quaternion(const type::dto::Quaternion& o, const Path& path) :
- detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(o, type::Descriptor::eQuaternion, path)
+ detail::NDArrayVariant<type::dto::Quaternion, Quaternion>(o, type::Descriptor::QUATERNION, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/All.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/All.h
index ee4877b10d9b3294a681042961788a99d2d5077c..2b739568ee4a7174a683df8f93ecb77efd41a369 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/All.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/All.h
@@ -6,7 +6,6 @@
#include "Double.h"
#include "String.h"
#include "Bool.h"
-#include "Time.h"
/**
* A convenience header to include all primitive aron files (full include, not forward declared)
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
index 9eca559042cb6d38e575399b604e51f194f8aec7..fc5cdb5cb403e4de3605b82ad9f7a755c925c5d2 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Bool::Bool(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronBool, Bool>(type::Descriptor::eBool, path)
+ detail::PrimitiveVariant<type::dto::AronBool, Bool>(type::Descriptor::BOOL, path)
{
}
Bool::Bool(const type::dto::AronBool&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronBool, Bool>(o, type::Descriptor::eBool, path)
+ detail::PrimitiveVariant<type::dto::AronBool, Bool>(o, type::Descriptor::BOOL, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
index 256e0a61fa70bb46f1580553de206f16ef2fbddd..e4fd415fe7c54b34d6e60314810a336856e845c0 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Double::Double(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronDouble, Double>(type::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<type::dto::AronDouble, Double>(type::Descriptor::DOUBLE, path)
{
}
Double::Double(const type::dto::AronDouble&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronDouble, Double>(o, type::Descriptor::eDouble, path)
+ detail::PrimitiveVariant<type::dto::AronDouble, Double>(o, type::Descriptor::DOUBLE, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
index 3d08b5bdaae4aa689761bb181aee1d688e0dd8a2..45bbad7dec390c876ff1033c650e187f29a4788e 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Float::Float(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronFloat, Float>(type::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<type::dto::AronFloat, Float>(type::Descriptor::FLOAT, path)
{
}
Float::Float(const type::dto::AronFloat&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronFloat, Float>(o, type::Descriptor::eFloat, path)
+ detail::PrimitiveVariant<type::dto::AronFloat, Float>(o, type::Descriptor::FLOAT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
index b371f53ddf1f82275d334e0752367e01fec57c93..6abe9850c96afcdf34785f0226cd22f11e067be8 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Int::Int(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronInt, Int>(type::Descriptor::eInt, path)
+ detail::PrimitiveVariant<type::dto::AronInt, Int>(type::Descriptor::INT, path)
{
}
Int::Int(const type::dto::AronInt&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronInt, Int>(o, type::Descriptor::eInt, path)
+ detail::PrimitiveVariant<type::dto::AronInt, Int>(o, type::Descriptor::INT, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
index 2654a773d6f00f2552e7246007294baa161de1bf..f7898bcf2247ddbffea6fedba1c51699571030ba 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
Long::Long(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronLong, Long>(type::Descriptor::eLong, path)
+ detail::PrimitiveVariant<type::dto::AronLong, Long>(type::Descriptor::LONG, path)
{
}
Long::Long(const type::dto::AronLong&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronLong, Long>(o, type::Descriptor::eLong, path)
+ detail::PrimitiveVariant<type::dto::AronLong, Long>(o, type::Descriptor::LONG, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
index 1cced6991fa157d23638241f1e012c2c0e7a4589..0ede75062e53745057b0c181db65681656365d7d 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
@@ -33,12 +33,12 @@ namespace armarx::aron::type
{
/* constructors */
String::String(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronString, String>(type::Descriptor::eString, path)
+ detail::PrimitiveVariant<type::dto::AronString, String>(type::Descriptor::STRING, path)
{
}
String::String(const type::dto::AronString&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronString, String>(o, type::Descriptor::eString, path)
+ detail::PrimitiveVariant<type::dto::AronString, String>(o, type::Descriptor::STRING, path)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp
deleted file mode 100644
index 76ba1e55c0c2d7d65c12760e6c66ef725ffbbd5c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * 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
- */
-
-
-// STD/STL
-#include <string>
-#include <map>
-
-// Header
-#include "Time.h"
-
-namespace armarx::aron::type
-{
- /* constructors */
- Time::Time(const Path& path) :
- detail::PrimitiveVariant<type::dto::AronTime, Time>(type::Descriptor::eTime, path)
- {
- }
-
- Time::Time(const type::dto::AronTime&o, const Path& path) :
- detail::PrimitiveVariant<type::dto::AronTime, Time>(o, type::Descriptor::eTime, path)
- {
- }
-
- /* public member functions */
- type::dto::AronTimePtr Time::toTimeDTO() const
- {
- return this->aron;
- }
-
- /* virtual implementations */
- std::string Time::getShortName() const
- {
- return "Time";
- }
-
- std::string Time::getFullName() const
- {
- return "armarx::aron::type::Time";
- }
-}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
index 3ee591092479281470bf2bf9f0906e46c3ed3546..a2f46088a7b0f2261f67fac9931597cd97934f2b 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
@@ -39,7 +39,7 @@ namespace armarx::aron::type
auto descriptor = v.getDescriptor(t);
switch (descriptor)
{
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
{
v.visitListOnEnter(t);
auto acceptedType = v.getListAcceptedType(t);
@@ -47,7 +47,7 @@ namespace armarx::aron::type
v.visitListOnExit(t);
return;
}
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
{
v.visitPairOnEnter(t);
auto acceptedTypes = v.getPairAcceptedTypes(t);
@@ -56,7 +56,7 @@ namespace armarx::aron::type
v.visitPairOnExit(t);
return;
}
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
{
v.visitTupleOnEnter(t);
unsigned int i = 0;
@@ -68,7 +68,7 @@ namespace armarx::aron::type
v.visitTupleOnExit(t);
return;
}
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
{
v.visitDictOnEnter(t);
auto acceptedType = v.getDictAcceptedType(t);
@@ -76,7 +76,7 @@ namespace armarx::aron::type
v.visitDictOnExit(t);
return;
}
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
{
v.visitObjectOnEnter(t);
for (const auto& [key, acceptedType] : v.getObjectElements(t))
@@ -86,41 +86,33 @@ namespace armarx::aron::type
v.visitObjectOnExit(t);
return;
}
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(t);
- case type::Descriptor::eOrientation:
- return v.visitOrientation(t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(t);
- case type::Descriptor::ePosition:
- return v.visitPosition(t);
- case type::Descriptor::ePose:
- return v.visitPose(t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(t);
- case type::Descriptor::eTime:
- return v.visitTime(t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(t);
}
}
@@ -171,7 +163,6 @@ namespace armarx::aron::type
virtual void visitDouble(Input&) {};
virtual void visitBool(Input&) {};
virtual void visitString(Input&) {};
- virtual void visitTime(Input&) {};
virtual void visitAnyObject(Input&) {};
virtual void visitUnknown(Input&) {
throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
index f4472c700448d807e34d6496f795156b2030f721..9dfe2057d41256e44c506f9b7f61fc18fa68f7b1 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
@@ -44,51 +44,43 @@ namespace armarx::aron::type
auto descriptor = v.getDescriptor(t);
switch (descriptor)
{
- case type::Descriptor::eObject:
+ case type::Descriptor::OBJECT:
return v.visitObject(t);
- case type::Descriptor::eList:
+ case type::Descriptor::LIST:
return v.visitList(t);
- case type::Descriptor::eDict:
+ case type::Descriptor::DICT:
return v.visitDict(t);
- case type::Descriptor::ePair:
+ case type::Descriptor::PAIR:
return v.visitPair(t);
- case type::Descriptor::eTuple:
+ case type::Descriptor::TUPLE:
return v.visitTuple(t);
- case type::Descriptor::eNDArray:
+ case type::Descriptor::NDARRAY:
return v.visitNDArray(t);
- case type::Descriptor::eMatrix:
+ case type::Descriptor::MATRIX:
return v.visitMatrix(t);
- case type::Descriptor::eOrientation:
- return v.visitOrientation(t);
- case type::Descriptor::eImage:
+ case type::Descriptor::IMAGE:
return v.visitImage(t);
- case type::Descriptor::ePointCloud:
+ case type::Descriptor::POINTCLOUD:
return v.visitPointCloud(t);
- case type::Descriptor::ePosition:
- return v.visitPosition(t);
- case type::Descriptor::ePose:
- return v.visitPose(t);
- case type::Descriptor::eQuaternion:
+ case type::Descriptor::QUATERNION:
return v.visitQuaternion(t);
- case type::Descriptor::eInt:
+ case type::Descriptor::INT:
return v.visitInt(t);
- case type::Descriptor::eLong:
+ case type::Descriptor::LONG:
return v.visitLong(t);
- case type::Descriptor::eFloat:
+ case type::Descriptor::FLOAT:
return v.visitFloat(t);
- case type::Descriptor::eDouble:
+ case type::Descriptor::DOUBLE:
return v.visitDouble(t);
- case type::Descriptor::eString:
+ case type::Descriptor::STRING:
return v.visitString(t);
- case type::Descriptor::eBool:
+ case type::Descriptor::BOOL:
return v.visitBool(t);
- case type::Descriptor::eTime:
- return v.visitTime(t);
- case type::Descriptor::eAnyObject:
+ case type::Descriptor::ANY_OBJECT:
return v.visitAnyObject(t);
- case type::Descriptor::eIntEnum:
+ case type::Descriptor::INT_ENUM:
return v.visitIntEnum(t);
- case type::Descriptor::eUnknown:
+ case type::Descriptor::UNKNOWN:
return v.visitUnknown(t);
}
}
@@ -132,7 +124,6 @@ namespace armarx::aron::type
virtual void visitDouble(Input&) {};
virtual void visitBool(Input&) {};
virtual void visitString(Input&) {};
- virtual void visitTime(Input&) {};
virtual void visitAnyObject(Input&) {};
virtual void visitUnknown(Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~Visitor() = default;
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
index 241a1ec27e939af39353f69090a1424d172c3122..d2b1c19a07e2b04fbf1e547d1cc39859793c90cc 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
@@ -35,7 +35,7 @@ namespace armarx::aron::type
{
if (!n)
{
- return type::Descriptor::eUnknown;
+ return type::Descriptor::UNKNOWN;
}
return n->getDescriptor();
}
@@ -87,24 +87,6 @@ namespace armarx::aron::type
visitAronVariant(aron);
}
- void ConstVariantVisitor::visitOrientation(Input& i)
- {
- auto aron = type::Orientation::DynamicCastAndCheck(i);
- visitAronVariant(aron);
- }
-
- void ConstVariantVisitor::visitPosition(Input& i)
- {
- auto aron = type::Position::DynamicCastAndCheck(i);
- visitAronVariant(aron);
- }
-
- void ConstVariantVisitor::visitPose(Input& i)
- {
- auto aron = type::Pose::DynamicCastAndCheck(i);
- visitAronVariant(aron);
- }
-
void ConstVariantVisitor::visitQuaternion(Input & i)
{
auto aron = type::Quaternion::DynamicCastAndCheck(i);
@@ -165,12 +147,6 @@ namespace armarx::aron::type
visitAronVariant(aron);
}
- void ConstVariantVisitor::visitTime(Input& i)
- {
- auto aron = type::Time::DynamicCastAndCheck(i);
- visitAronVariant(aron);
- }
-
void ConstVariantVisitor::visitAronVariant(const type::ObjectPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::DictPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::PairPtr&) {}
@@ -179,9 +155,6 @@ namespace armarx::aron::type
void ConstVariantVisitor::visitAronVariant(const type::NDArrayPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::MatrixPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::QuaternionPtr&) {}
- void ConstVariantVisitor::visitAronVariant(const type::PositionPtr&) {}
- void ConstVariantVisitor::visitAronVariant(const type::OrientationPtr&) {}
- void ConstVariantVisitor::visitAronVariant(const type::PosePtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::ImagePtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::PointCloudPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::IntEnumPtr&) {}
@@ -191,7 +164,6 @@ namespace armarx::aron::type
void ConstVariantVisitor::visitAronVariant(const type::DoublePtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::BoolPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::StringPtr&) {}
- void ConstVariantVisitor::visitAronVariant(const type::TimePtr&) {}
/****************************************************************************
* RecursiveVariantVisitor
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
index 355b3fee2f1d14c63b9c4310e4f44268c76db514..e7e87fa45974a37ded813f3bfc156417238e5a02 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
@@ -51,9 +51,6 @@ namespace armarx::aron::type
void visitMatrix(Input&) override;
void visitNDArray(Input&) override;
void visitQuaternion(Input&) override;
- void visitOrientation(Input&) override;
- void visitPosition(Input&) override;
- void visitPose(Input&) override;
void visitImage(Input&) override;
void visitPointCloud(Input&) override;
void visitIntEnum(Input&) override;
@@ -63,7 +60,6 @@ namespace armarx::aron::type
void visitDouble(Input&) override;
void visitBool(Input&) override;
void visitString(Input&) override;
- void visitTime(Input&) override;
// Use these if you do not want to cast manually
virtual void visitAronVariant(const type::ObjectPtr&);
@@ -74,15 +70,11 @@ namespace armarx::aron::type
virtual void visitAronVariant(const type::MatrixPtr&);
virtual void visitAronVariant(const type::NDArrayPtr&);
virtual void visitAronVariant(const type::QuaternionPtr&);
- virtual void visitAronVariant(const type::OrientationPtr&);
- virtual void visitAronVariant(const type::PositionPtr&);
- virtual void visitAronVariant(const type::PosePtr&);
virtual void visitAronVariant(const type::PointCloudPtr&);
virtual void visitAronVariant(const type::ImagePtr&);
virtual void visitAronVariant(const type::IntEnumPtr&);
virtual void visitAronVariant(const type::IntPtr&);
virtual void visitAronVariant(const type::LongPtr&);
- virtual void visitAronVariant(const type::TimePtr&);
virtual void visitAronVariant(const type::FloatPtr&);
virtual void visitAronVariant(const type::DoublePtr&);
virtual void visitAronVariant(const type::BoolPtr&);
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
deleted file mode 100644
index a150fa341e4b427476e2ee17389bdade64c138dc..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
- * 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
- */
-
-// STD/STL
-
-
-// Header
-#include "Reader.h"
-#include <sstream>
-
-// ArmarX
-#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-
-#include <RobotAPI/libraries/aron/core/typereader/xml/Data.h>
-#include <RobotAPI/libraries/aron/core/type/variant/Factory.h>
-
-
-namespace armarx::aron::typereader::xml
-{
- namespace fs = std::filesystem;
-
- namespace
- {
- /// Resolve a relative Package path. This may be removed in a newer version of aron
- std::optional<fs::path> resolveRelativePackagePath(const fs::path& path, const std::vector<fs::path>& includePaths)
- {
- // new behavior: using provided include paths
- for (const auto& includePath : includePaths)
- {
- fs::path absPath = includePath / path;
- if (fs::is_regular_file(absPath))
- {
- // path is valid
- return absPath;
- }
- }
-
- // legacy behavior: using cmake package finder paths
- const std::string package = *path.begin();
- armarx::CMakePackageFinder finder(package);
- if (finder.packageFound())
- {
- for (const std::string& includePath : finder.getIncludePathList())
- {
- fs::path absPath = includePath / path;
- if (fs::is_regular_file(absPath))
- {
- // path is valid
- return absPath;
- }
- }
- return std::nullopt;
- }
-
- return std::nullopt;
- }
- }
-
- void Reader::parseFile(const std::string& _filename, const std::vector<std::filesystem::path>& includePaths)
- {
- std::string filename = _filename;
- // Handle C++ style includes like "<path/to/file>".
- if (!filename.empty() && filename.front() == '<' && filename.back() == '>')
- {
- filename = filename.substr(1, filename.size() - 2);
- }
- parseFile(std::filesystem::path(filename), includePaths);
- }
-
- void Reader::parseFile(const std::filesystem::path& _file, const std::vector<std::filesystem::path>& includePaths)
- {
- fs::path file = _file;
-
- RapidXmlReaderPtr reader = RapidXmlReader::FromFile(file.string());
- parse(reader, _file, includePaths);
- }
-
- // private method reading nodes
- void Reader::parse(const RapidXmlReaderPtr& reader, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
- {
- RapidXmlReaderNode root = reader->getRoot();
-
- // Check Header
- util::EnforceTagName(root, constantes::TYPE_DEFINITION_TAG);
-
- util::EnforceChildSizeSmallerEqual(root, 4);
-
- auto code_includes = util::GetFirstNodeWithTag(root, constantes::CODE_INCLUDES_TAG);
- auto aron_includes = util::GetFirstNodeWithTag(root, constantes::INCLUDES_TAG);
- auto generate_types = util::GetFirstNodeWithTag(root, constantes::GENERATE_TYPES_TAG);
-
- // 1. Check includes
- if (code_includes.has_value())
- {
- for (const auto& include : (*code_includes).nodes())
- {
- this->codeIncludes.push_back(readCodeInclude(include, filePath, includePaths));
- }
- }
-
- // 2. Check AronIncludes
- if (aron_includes.has_value())
- {
- for (const auto& aronInclude : (*aron_includes).nodes())
- {
- this->aronIncludes.push_back(readAronInclude(aronInclude, filePath, includePaths));
- }
- }
-
- // 3. Check GenerateTypes
- if (generate_types.has_value())
- {
- for (const auto& generateType : (*generate_types).nodes())
- {
- if (util::HasTagName(generateType, constantes::OBJECT_TAG))
- {
- const auto nav = readGenerateObject(generateType);
- generateObjects.push_back(factory.allGeneratedPublicObjects.at(nav->getObjectName()));
- continue;
- }
-
- if (util::HasTagName(generateType, constantes::INT_ENUM_TAG))
- {
- const auto nav = readGenerateIntEnum(generateType);
- generateIntEnums.push_back(factory.allGeneratedPublicIntEnums.at(nav->getEnumName()));
- continue;
- }
- throw error::ValueNotValidException("XMLReader", "parse", "Could not find a valid tag inside generatetypes", generateType.name());
- }
- }
- else
- {
- throw error::AronException(__PRETTY_FUNCTION__, "No generate types found in aron xml '" + filePath.string() + "'.");
- }
- }
-
- std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
- {
- util::EnforceTagName(node, constantes::INCLUDE_TAG);
- util::EnforceAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- const std::string include = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- return include;
- }
-
- std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
- {
- util::EnforceTagName(node, constantes::INCLUDE_TAG);
- std::string specifiedPath = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
- specifiedPath = simox::alg::replace_all(specifiedPath, "<", "");
- specifiedPath = simox::alg::replace_all(specifiedPath, ">", "");
- const std::filesystem::path xmlincludepath(specifiedPath);
-
- // add logic to allow relative paths:
- std::filesystem::path resolved_absolute_path(xmlincludepath);
- std::filesystem::path resolved_relative_path(xmlincludepath);
-
- if (!xmlincludepath.empty() && xmlincludepath.is_relative())
- {
- // ARMARX_INFO << "Checking file " << xmlincludepath;
- if (std::optional<fs::path> resolvedPackagePath = resolveRelativePackagePath(xmlincludepath, includePaths); resolvedPackagePath.has_value())
- {
- // check if relative path belongs to a package
- resolved_absolute_path = resolvedPackagePath.value();
- resolved_relative_path = xmlincludepath;
- }
- else
- {
- // perhaps the relative path is relative from file position?
- // TODO: FixMe
- resolved_absolute_path = filePath.parent_path() / xmlincludepath;
- resolved_relative_path = filePath.parent_path() / xmlincludepath;
-
- if (!fs::is_regular_file(resolved_absolute_path))
- {
- std::stringstream ss;
- for(const auto& includePath: includePaths)
- {
- ss << includePath << ", ";
- }
-
- throw error::AronException(__PRETTY_FUNCTION__, "Could not find an aron XML file `" + xmlincludepath.string() + "`. Search paths are: " + ss.str());
- }
- }
- }
- // else path is absolute
-
- // parse parent xml file and add objects to alreday known
- Reader anotherReader;
- anotherReader.parseFile(resolved_absolute_path, includePaths);
- for (const auto& previouslyKnown : anotherReader.factory.allPreviouslyKnownPublicTypes)
- {
- factory.allPreviouslyKnownPublicTypes.push_back(previouslyKnown);
- }
- for (const auto& knownObjectInfo : anotherReader.factory.allGeneratedPublicObjects)
- {
- factory.allPreviouslyKnownPublicTypes.push_back(knownObjectInfo.first);
- }
- for (const auto& knownIntEnumInfo : anotherReader.factory.allGeneratedPublicIntEnums)
- {
- factory.allPreviouslyKnownPublicTypes.push_back(knownIntEnumInfo.first);
- }
-
- if (util::HasAttribute(node, constantes::AUTO_CODE_INCLUDE))
- {
- std::string codeinclude = simox::alg::replace_last(resolved_relative_path, ".xml", ".aron.generated.h");
- this->codeIncludes.push_back("<" + codeinclude + ">");
- }
-
- return resolved_absolute_path.string();
- }
-
- type::ObjectPtr Reader::readGenerateObject(const RapidXmlReaderNode& node)
- {
- util::EnforceTagName(node, constantes::OBJECT_TAG);
- return type::Object::DynamicCastAndCheck(factory.create(node, Path()));
- }
-
- type::IntEnumPtr Reader::readGenerateIntEnum(const RapidXmlReaderNode& node)
- {
- util::EnforceTagName(node, constantes::INT_ENUM_TAG);
- return type::IntEnum::DynamicCastAndCheck(factory.create(node, Path()));
- }
-}
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index bbf9d1d35d12fff2ceb8b51361e09573986c94a3..7368c8d633d766e4adb022e0f428dfe3cdce1ce4 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -12,6 +12,7 @@ armarx_add_library(
RobotAPI::Core
aronjsonconverter
SOURCES
+ ./error/Exception.cpp
./manager/SkillManagerComponentPlugin.cpp
./provider/SkillProviderComponentPlugin.cpp
./provider/Skill.cpp
@@ -24,6 +25,7 @@ armarx_add_library(
./provider/helper/LambdaSkillImplementation.cpp
./provider/detail/SkillImplementationWrapper.cpp
HEADERS
+ ./error/Exception.h
./manager/SkillManagerComponentPlugin.h
./provider/SkillProviderComponentPlugin.h
./provider/Skill.h
diff --git a/source/RobotAPI/libraries/skills/error/Exception.cpp b/source/RobotAPI/libraries/skills/error/Exception.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..32521fedeb0428e384897ce88e2f9f42ebb57a71
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/error/Exception.cpp
@@ -0,0 +1,2 @@
+
+#include "Exception.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h b/source/RobotAPI/libraries/skills/error/Exception.h
similarity index 53%
rename from source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h
rename to source/RobotAPI/libraries/skills/error/Exception.h
index b4bebb8ca5e40d782681e88bed6f9bad30afd128..b73ccbf1e0271f82cf95107bd6beaecdcb4440a8 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/skills/error/Exception.h
@@ -25,30 +25,41 @@
// STD/STL
#include <string>
+#include <vector>
#include <map>
-// Base class
-#include "../detail/NDArrayVariant.h"
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/Exception.h>
-namespace armarx::aron::type
+
+namespace armarx::skills::error
{
/**
- * @brief The Orientation class. It represents the orientation type. The generated code will most probably be related to the Quaternion type
- * It does not have any parameters since it is assumed to be similar to Quaternion with float type
+ * @brief A base class for aron exceptions. All aron exceptions inherit from this class
*/
- class Orientation :
- public detail::NDArrayVariant<type::dto::Orientation, Orientation>
+ class SkillException :
+ public armarx::LocalException
{
public:
- // constructors
- Orientation(const Path& path = Path());
- Orientation(const type::dto::Orientation&, const Path& path);
-
- // public member functions
- type::dto::OrientationPtr toOrientationDTO() const;
+ SkillException() = delete;
+ SkillException(const std::string& prettymethod, const std::string& reason) :
+ LocalException(prettymethod + ": " + reason + ".")
+ {
+ }
+ };
- // virtual implementations
- std::string getShortName() const override;
- std::string getFullName() const override;
+ /**
+ * @brief The NotImplementedYetException class
+ */
+ class NotImplementedYetException :
+ public SkillException
+ {
+ public:
+ NotImplementedYetException() = delete;
+ NotImplementedYetException(const std::string& prettymethod) :
+ SkillException(prettymethod, "This method is not yet implemented!")
+ {
+ }
};
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 1b97951eb8e7b6c72e5aa7bcc092c966da497a8c..b83ad843beef64e3112fb56d7523dfcdf6c56c34 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -50,23 +50,17 @@ namespace armarx
}
}
- skills::provider::dti::SkillProviderMap SkillManagerComponentPluginUser::getSkillProviders(const Ice::Current&)
- {
- return skillProviderMap;
- }
-
- void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current&)
+ void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current&)
{
if (auto it = skillProviderMap.find(info.providerName); it != skillProviderMap.end())
{
skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
getProxy(myPrx, -1);
- skills::provider::dto::SkillExecutionInfo exInfo;
+ skills::provider::dto::SkillExecutionRequest exInfo;
exInfo.skillName = info.skillName;
exInfo.callbackInterface = myPrx;
exInfo.params = info.params;
- exInfo.waitUntilSkillFinished = info.waitUntilSkillFinished;
it->second->executeSkill(exInfo);
}
@@ -80,7 +74,7 @@ namespace armarx
{
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- it->second->abortSkill(skillName, false);
+ it->second->abortSkill(skillName);
}
}
@@ -89,4 +83,26 @@ namespace armarx
(void) statusUpdate;
// If you want to use the status, implement this method!
}
+
+ skills::manager::dto::SkillDescriptionMapMap SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current ¤t)
+ {
+ skills::manager::dto::SkillDescriptionMapMap ret;
+ for (const auto& [n, s] : skillProviderMap)
+ {
+ skills::provider::dto::SkillDescriptionMap m = s->getSkillDescriptions();
+ ret.insert({n, m});
+ }
+ return ret;
+ }
+
+ skills::manager::dto::SkillStatusUpdateMapMap SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current ¤t)
+ {
+ skills::manager::dto::SkillStatusUpdateMapMap ret;
+ for (const auto& [n, s] : skillProviderMap)
+ {
+ skills::provider::dto::SkillStatusUpdateMap m = s->getSkillExecutionStatuses();
+ ret.insert({n, m});
+ }
+ return ret;
+ }
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 5c59564f6fc16eca8b6e79afafb1d5ba0ef32a4b..e9c950c740d2b253edc33adb0ccd7d08971cfee8 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -33,16 +33,19 @@ namespace armarx
void addProvider(const skills::manager::dto::ProviderInfo& providerInfo, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- skills::provider::dti::SkillProviderMap getSkillProviders(const Ice::Current ¤t) override;
- void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+
+ void executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t) override;
void abortSkill(const std::string& providerName, const std::string& skillName, const Ice::Current ¤t) override;
+ skills::manager::dto::SkillDescriptionMapMap getSkillDescriptions(const Ice::Current ¤t) override;
+ skills::manager::dto::SkillStatusUpdateMapMap getSkillExecutionStatuses(const Ice::Current ¤t) override;
+
private:
armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
protected:
std::mutex skillProviderMapMutex;
- skills::provider::dti::SkillProviderMap skillProviderMap;
+ std::map<std::string, skills::provider::dti::SkillProviderInterfacePrx> skillProviderMap;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
index 6175015154ea95ecd2229a0b81d16a0035b61265..d459b9af70c56925eaa53e86584215ad2d291c06 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
@@ -37,7 +37,7 @@ namespace armarx::skills
}
Skill::Status
- PeriodicSkill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ PeriodicSkill::main(const aron::data::DictPtr& params, const CallbackT& callback)
{
if(not initialize(params))
{
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
index 8c8f6c81c4d5c1e1718f330803af6d30c61dea7c..6fb259f602db49c3640384793ec9790cef100fa2 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
@@ -35,7 +35,7 @@ namespace armarx::skills
PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
protected:
- typename Skill::Status execute(const aron::data::DictPtr& params,
+ typename Skill::Status main(const aron::data::DictPtr& params,
const Skill::CallbackT& callback) final;
enum class Status
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
index 01809566186465638e8601e91e56ce7190ce5d39..2b6fd6f6d352fe3edf94dc05a15ba3194703dfa3 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
@@ -45,7 +45,7 @@ namespace armarx::skills
protected:
typename Skill::Status
- execute(const AronT& params, const Skill::CallbackT& callback) final
+ main(const AronT& params, const Skill::CallbackT& callback) final
{
if (not initialize(params))
{
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index c74910e43c3d4b4578c67ad1af06d1cc9fc86f3b..23588f899674802a590633f1813a1c10c258feaf 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -11,20 +11,11 @@ namespace armarx
Logging::setTag("armarx::skills::" + description.skillName);
}
- std::thread Skill::installTimeoutCondition()
+ // install a local condition via a lambda
+ void Skill::installCondition(std::function<bool()>&& f, std::function<void()>&& cb)
{
- // start timeout check
- return std::thread{ [&](){
- if (description.timeoutMs <= 0) return;
- long skillStartedAt = IceUtil::Time::now().toMilliSeconds();
- while(running and !stopRequested())
- {
- auto now = IceUtil::Time::now().toMilliSeconds();
- if ((now - skillStartedAt) >= description.timeoutMs) notifyTimeoutReached();
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- }
- }
- };
+ std::lock_guard l(callbacksMutex);
+ callbacks.push_back({f, cb});
}
void Skill::notifyTimeoutReached()
@@ -37,6 +28,7 @@ namespace armarx
stopped = true;
}
+ // reset all local variables
void Skill::reset()
{
started = IceUtil::Time::milliSeconds(-1);
@@ -47,34 +39,55 @@ namespace armarx
timeoutReached = false;
}
+ // always called before execute (should not take longer than 100ms)
void Skill::init(const aron::data::DictPtr& params)
{
(void) params;
ARMARX_IMPORTANT << "Initializing Skill '" << description.skillName << "'";
- // always called before execute (should not take longer than 100ms)
+ callbacks.clear();
running = true;
started = IceUtil::Time::now();
- timeoutCheck = installTimeoutCondition();
+
+ // install timeout condition
+ installCondition(
+ [&](){ return (IceUtil::Time::now().toMilliSeconds() - started.toMilliSeconds()) >= description.timeoutMs; },
+ [&](){ notifyTimeoutReached(); }
+ );
+
+ conditionCheckingThread = std::thread([&]()
+ {
+ while (running)
+ {
+ std::lock_guard l(callbacksMutex);
+ for (auto& p : callbacks)
+ {
+ auto& f = p.first;
+ auto& cb = p.second;
+ if (f()) cb();
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(50)); // check frequency
+ }
+ });
}
+ // always called after execute (should not take longer than 100ms)
void Skill::exit(const aron::data::DictPtr& params)
{
(void) params;
ARMARX_IMPORTANT << "Exiting Skill '" << description.skillName << "'";
- // always called after execute (should not take longer than 100ms)
- running = false;
- if (timeoutCheck.joinable())
+ running = false; // notify all conditions to stop
+ if (conditionCheckingThread.joinable())
{
- timeoutCheck.join();
+ conditionCheckingThread.join();
}
exited = IceUtil::Time::now();
}
- Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ Skill::Status Skill::main(const aron::data::DictPtr& params, const CallbackT& callback)
{
(void) params;
@@ -82,11 +95,11 @@ namespace armarx
return Status::Succeeded;
}
- Skill::Status Skill::initExecuteExit(const aron::data::DictPtr& params, const CallbackT& callback)
+ Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
{
this->reset();
this->init(params);
- auto ret = this->execute(params);
+ auto ret = this->main(params);
this->exit(params);
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index d4fe0e5cf4fc892cf032f99a7576dfe8d0ab33ab..1447fdd13ff440c9f5cfe9357a4f2889170502fb 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -8,6 +8,7 @@
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -43,10 +44,10 @@ namespace armarx
virtual void exit(const aron::data::DictPtr& params);
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ virtual Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
/// Do all methods at once.
- Status initExecuteExit(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
/// Override if you have special members that needs to be resetted. It is called before the skill ititializes
virtual void reset();
@@ -58,28 +59,31 @@ namespace armarx
virtual bool stopRequested() const;
private:
- /// install a condition as a seperate thread
- std::thread installTimeoutCondition();
+ /// install a condition is easy
+ void installCondition(std::function<bool()>&& f, std::function<void()>&& cb);
public:
const SkillDescription description;
- /// running params
+ /// active conditions
+ std::vector<std::pair<std::function<bool()>, std::function<void()>>> callbacks;
+ mutable std::mutex callbacksMutex;
+
+ /// running params. TODO switch to armarx::core::time
IceUtil::Time started = IceUtil::Time::milliSeconds(-1);
IceUtil::Time exited = IceUtil::Time::milliSeconds(-1);
/// proxies that called the skills. Will be set from provider and is const afterwards
- provider::dti::SkillProviderInterfacePrx ownerProvider = nullptr;
- manager::dti::SkillManagerInterfacePrx ownerManager = nullptr;
+ manager::dti::SkillManagerInterfacePrx manager = nullptr;
protected:
- /// Use conditions during runtime this way
+ /// Use conditions this way
std::atomic_bool running = true;
std::atomic_bool stopped = false;
std::atomic_bool timeoutReached = false;
private:
- std::thread timeoutCheck;
+ std::thread conditionCheckingThread;
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
index 5295057bec7d1ace202d9ac1245306542848d6f9..3256f3e11bce11548a7d846904791717d311190a 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -4,14 +4,20 @@ namespace armarx
{
namespace skills
{
+ SkillDescription::SkillDescription(const std::string& name, const std::string& desc, const std::vector<std::string>& r, long timeoutMs, const aron::type::ObjectPtr& type, const aron::data::DictPtr& def) :
+ skillName(name), description(desc), robots(r), timeoutMs(timeoutMs), acceptedType(type), defaultParams(def)
+ {
+ }
+
provider::dto::SkillDescription SkillDescription::toIce() const
{
provider::dto::SkillDescription ret;
ret.acceptedType = aron::type::Object::ToAronObjectDTO(acceptedType);
ret.description = description;
ret.skillName = skillName;
- ret.targets = targets;
+ ret.robots = robots;
ret.timeoutMs = timeoutMs;
+ ret.defaultParams = aron::data::Dict::ToAronDictDTO(defaultParams);
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
index 2bf9707c25fe61df7a0d5a3ba3b6448d91814098..14bb86dc3b13215ff5131d5fb84d79572c7eda29 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -4,6 +4,7 @@
#include <vector>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
namespace armarx
@@ -12,11 +13,15 @@ namespace armarx
{
struct SkillDescription
{
- std::string skillName;
- std::string description;
- std::vector<std::string> targets;
- long timeoutMs;
- aron::type::ObjectPtr acceptedType;
+ std::string skillName = "";
+ std::string description = "";
+ std::vector<std::string> robots = {};
+ long timeoutMs = -1;
+ aron::type::ObjectPtr acceptedType = nullptr;
+ aron::data::DictPtr defaultParams = nullptr;
+
+ SkillDescription() = default;
+ SkillDescription(const std::string&, const std::string&, const std::vector<std::string>&, long, const aron::type::ObjectPtr&, const aron::data::DictPtr& = nullptr);
provider::dto::SkillDescription toIce() const;
};
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 638de458ae31b7abaa7e2cee610a6505b0d0ed63..0691a6f71d8a28c1ddce4c74faf54fec213711dd 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -25,8 +25,7 @@ namespace armarx::plugins
// update skill ownership
for (auto& [skillName, impl] : p.skillImplementations)
{
- impl.skill->ownerProvider = myPrx;
- impl.skill->ownerManager = ownedBySkillManager;
+ impl.skill->manager = manager;
impl.statusUpdate.providerName = p.getName();
impl.statusUpdate.skillName = skillName;
@@ -36,8 +35,8 @@ namespace armarx::plugins
skills::manager::dto::ProviderInfo i;
i.provider = myPrx;
i.providerName = providerName;
- i.providedSkills = p.getSkills();
- ownedBySkillManager->addProvider(i);
+ i.providedSkills = p.getSkillDescriptions();
+ manager->addProvider(i);
p.connected = true;
}
@@ -47,13 +46,13 @@ namespace armarx::plugins
auto& p = parent<SkillProviderComponentPluginUser>();
std::string providerName = p.getName();
- ownedBySkillManager->removeProvider(providerName);
+ manager->removeProvider(providerName);
}
void SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
std::string prefix = "skill.";
- properties->component(ownedBySkillManager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
+ properties->component(manager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
}
}
@@ -72,15 +71,15 @@ namespace armarx
return;
}
+ std::string skillName = skill->description.skillName;
if (connected)
{
- ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" + skill->description.skillName + "' therefore cannot be added anymore.";
+ ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" + skillName + "' therefore cannot be added anymore. Please only add skills in the onInit method.";
return;
}
+ // lock skills map
std::unique_lock l(skillsMutex);
-
- std::string skillName = skill->description.skillName;
if (skillImplementations.find(skillName) != skillImplementations.end())
{
ARMARX_WARNING << "Try to add a skill '" + skillName + "' which already exists in list. Ignoring this skill.";
@@ -97,7 +96,14 @@ namespace armarx
addSkill(std::move(lambda));
}
- skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkills(const Ice::Current ¤t)
+ skills::provider::dto::SkillDescription SkillProviderComponentPluginUser::getSkillDescription(const std::string& name, const Ice::Current &)
+ {
+ std::shared_lock l(skillsMutex);
+ const auto& skillWrapper = skillImplementations.at(name);
+ return skillWrapper.skill->description.toIce();
+ }
+
+ skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkillDescriptions(const Ice::Current &)
{
std::shared_lock l(skillsMutex);
skills::provider::dto::SkillDescriptionMap skillDesciptions;
@@ -108,7 +114,7 @@ namespace armarx
return skillDesciptions;
}
- skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t)
+ skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current &)
{
std::shared_lock l(skillsMutex);
auto& skillWrapper = skillImplementations.at(skill);
@@ -117,47 +123,56 @@ namespace armarx
return skillWrapper.statusUpdate.toIce();
}
- // Please not that this method waits until the skill can be scheduled!
- void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
+ skills::provider::dto::SkillStatusUpdateMap SkillProviderComponentPluginUser::getSkillExecutionStatuses(const Ice::Current &)
{
std::shared_lock l(skillsMutex);
- std::string skillName = info.skillName;
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
+ skills::provider::dto::SkillStatusUpdateMap skillUpdates;
+ for (const auto& [key, skillWrapper] : skillImplementations)
+ {
+ std::shared_lock l2(skillWrapper.skillStatusMutex);
+ skillUpdates.insert({key, skillWrapper.statusUpdate.toIce()});
+ }
+ return skillUpdates;
+ }
- auto& wrapper = skillImplementations.at(skillName);
+ // Please not that this method waits until the skill can be scheduled!
+ void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
+ {
+ // The skill will be executed in a different thread
+ std::thread execution;
+ // setup input args for skill execution
skills::SkillParameterization usedParameterization;
usedParameterization.usedCallbackInterface = info.callbackInterface;
usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
- // We have to wait until the last task is finished
- if (wrapper.task.joinable())
{
- wrapper.task.join();
- }
+ std::shared_lock l(skillsMutex);
+ std::string skillName = info.skillName;
+ ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
- // recreate thread and execute skill. A skill can only be executed once
- wrapper.task = std::thread{ [&] { wrapper.execute(usedParameterization);}};
- std::this_thread::sleep_for(std::chrono::milliseconds(50)); // somehow we need to wait, otherwise it chrashes
+ // get reference of the wrapper
+ auto& wrapper = skillImplementations.at(skillName);
+ // async start execution. But we wait for the execution to finish at the end of this method
+ execution = std::thread([&wrapper, &usedParameterization](){
+ // execute waits until the previous execution finishes.
+ wrapper.execute(usedParameterization);
+ });
+ } // release lock. We don't know how long the skill needs to finish and we have to releasethe lock for being able to abort the execution
- if (info.waitUntilSkillFinished && wrapper.task.joinable())
+ if (execution.joinable())
{
- // wait until task is finished. We hold the shared lock for the whole time.
- wrapper.task.join();
+ execution.join();
}
}
- void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, bool waitUntilSkillFinished, const Ice::Current ¤t)
+ void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current &)
{
std::shared_lock l(skillsMutex);
ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
auto& wrapper = skillImplementations.at(skillName);
- if (waitUntilSkillFinished && !wrapper.skill->stopRequested() && wrapper.task.joinable())
- {
- wrapper.skill->notifyStopped();
- wrapper.task.join();
- }
+ wrapper.skill->notifyStopped();
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 58895250b3de95d5b3433c92b69fd04c1e201a2b..a9696009516ad1f052058035da73a5c02b8e2dd5 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -33,7 +33,7 @@ namespace armarx::plugins
void preOnDisconnectComponent() override;
private:
- skills::manager::dti::SkillManagerInterfacePrx ownedBySkillManager;
+ skills::manager::dti::SkillManagerInterfacePrx manager;
skills::provider::dti::SkillProviderInterfacePrx myPrx;
};
}
@@ -47,10 +47,13 @@ namespace armarx
public:
SkillProviderComponentPluginUser();
- skills::provider::dto::SkillDescriptionMap getSkills(const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillDescription getSkillDescription(const std::string&, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillDescriptionMap getSkillDescriptions(const Ice::Current ¤t = Ice::Current()) override;
skills::provider::dto::SkillStatusUpdate getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t = Ice::Current()) override;
- void executeSkill(const skills::provider::dto::SkillExecutionInfo& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
- void abortSkill(const std::string &skill, bool waitUntilSkillFinished, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses(const Ice::Current ¤t = Ice::Current()) override;
+
+ void executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
+ void abortSkill(const std::string& name, const Ice::Current ¤t = Ice::Current()) override;
protected:
void addSkill(const skills::helper::LambdaSkill::FunT&, const skills::SkillDescription&);
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
index eb98bb0b01d0eee695b0ff98a5754b3038f881a7..fa9695b624acd0440413d7c756536ba7c9c66d86 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
@@ -7,12 +7,12 @@ namespace armarx
provider::dto::SkillStatusUpdate SkillStatusUpdate::toIce() const
{
provider::dto::SkillStatusUpdate ret;
- ret.providerName = providerName;
- ret.skillName = skillName;
+ ret.header.providerName = providerName;
+ ret.header.skillName = skillName;
ret.data = aron::data::Dict::ToAronDictDTO(data);
- ret.status = status;
- ret.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.usedParams = aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
+ ret.header.status = status;
+ ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
+ ret.header.usedParams = aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
index 2b69c7e5d707da474d60285e04a5b01a5fc9a067..41a138832bd530d89de2d393335c0e5fbedbc21b 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
@@ -14,12 +14,15 @@ namespace armarx
{
struct SkillStatusUpdate
{
+ // header
std::string providerName = "";
std::string skillName = "";
provider::dto::Execution::Status status = provider::dto::Execution::Status::Idle;
- aron::data::DictPtr data = nullptr;
SkillParameterization usedParameterization;
+ // data
+ aron::data::DictPtr data = nullptr;
+
provider::dto::SkillStatusUpdate toIce() const;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index 68711db013a4a463af03429befcee867d924cbdd..b922bc341506606e337ef82bf12425a20cf1199b 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -27,7 +27,7 @@ namespace armarx
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ virtual Status main(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
{
(void) params;
return Status::Succeeded;
@@ -43,19 +43,19 @@ namespace armarx
(void) params;
}
- Status initExecuteExit(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
{
- return Skill::initExecuteExit(params.toAron(), callback);
+ return Skill::execute(params.toAron(), callback);
}
/// Do not use anymore
- Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
+ Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
{
- Skill::execute(params, callback);
+ Skill::main(params, callback);
AronT p;
p.fromAron(params);
- return execute(p, callback);
+ return main(p, callback);
}
/// Do not use anymore
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index c6add657030fbe8763936fdf28c6ef81bfebeb03..50d95cade907d70b0f697589fb533dca5ea93f27 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -4,6 +4,12 @@ namespace armarx
{
namespace skills::detail
{
+ SkillImplementationWrapper::SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill) :
+ skill(std::move(skill))
+ {
+ ARMARX_CHECK_NOT_NULL(this->skill);
+ }
+
void SkillImplementationWrapper::execute(const skills::SkillParameterization parameterization)
{
std::unique_lock l(executingMutex);
@@ -54,7 +60,10 @@ namespace armarx
updateStatus(skills::provider::dto::Execution::Status::Running);
skill->init(aron_params);
- auto ret = skill->execute(aron_params, [&](const aron::data::DictPtr& update) { updateStatus(statusUpdate.status, update); });
+ auto ret = skill->main(aron_params, [&](const aron::data::DictPtr& update)
+ {
+ updateStatus(statusUpdate.status, update);
+ });
skill->exit(aron_params);
switch (ret)
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 1c70a14e5353bef38401a929783ed8c92b940054..f06420a2f1eef85a3e2df36d2471de55bab930e7 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -26,15 +26,10 @@ namespace armarx
mutable std::shared_mutex skillStatusMutex;
SkillStatusUpdate statusUpdate;
- // Task information. task is recreated every time the skill restarts
+ // Task information
mutable std::shared_mutex executingMutex;
- std::thread task;
- SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill) :
- skill(std::move(skill))
- {
- ARMARX_CHECK_NOT_NULL(this->skill);
- }
+ SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill);
// execute a skill. The parameterization is copied
void execute(const skills::SkillParameterization);
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
index 9b761b403f51552235b690d601137ff1c11a002b..25f589aab97d6ecd2f7c680dd5b5dfdfc5072052 100644
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
@@ -5,7 +5,7 @@ namespace armarx
namespace skills::helper
{
- Skill::Status LambdaSkill::execute(const aron::data::DictPtr& data, const CallbackT& callback)
+ Skill::Status LambdaSkill::main(const aron::data::DictPtr& data, const CallbackT& callback)
{
(void) callback;
bool res = fun(data);
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
index 63f537d4cf4c4cfd94633f45fb22ea9223449f5a..0f65572ac3c1191519c1f0d697ca1c767da56acb 100644
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
@@ -18,7 +18,7 @@ namespace armarx
{};
protected:
- Skill::Status execute(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
+ Skill::Status main(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
private:
FunT fun;