From 96f3432a16c89cd9bc866a5777d268175568720a Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Mon, 31 Aug 2020 17:02:14 +0200
Subject: [PATCH] updated aronGenerator executable and tested automatic aron
cmake generator macro
---
.../config/ArMemGlobalStorageApp.cfg | 6 +-
.../AronArmemGenerator/CMakeLists.txt | 3 -
.../applications/AronGenerator/CMakeLists.txt | 3 +
.../cxxopts.hpp | 0
.../main.cpp | 21 ++-
source/RobotAPI/applications/CMakeLists.txt | 2 +-
.../ArMemLocalStorage/ArMemLocalStorage.cpp | 24 +--
.../ArMemLocalStorage/ArMemLocalStorage.h | 2 +
.../libraries/aron/test/CMakeLists.txt | 9 +-
.../aron/test/aron/HumanPose.aron.generated.h | 161 ++++++++++++++++++
.../RobotAPI/libraries/aron/test/aronTest.cpp | 2 +
.../libraries/aron/test/generated/NaturalIK.h | 77 +++++----
12 files changed, 250 insertions(+), 60 deletions(-)
delete mode 100644 source/RobotAPI/applications/AronArmemGenerator/CMakeLists.txt
create mode 100644 source/RobotAPI/applications/AronGenerator/CMakeLists.txt
rename source/RobotAPI/applications/{AronArmemGenerator => AronGenerator}/cxxopts.hpp (100%)
rename source/RobotAPI/applications/{AronArmemGenerator => AronGenerator}/main.cpp (88%)
create mode 100644 source/RobotAPI/libraries/aron/test/aron/HumanPose.aron.generated.h
diff --git a/scenarios/ArMemTest/config/ArMemGlobalStorageApp.cfg b/scenarios/ArMemTest/config/ArMemGlobalStorageApp.cfg
index 732d15000..963d56b61 100644
--- a/scenarios/ArMemTest/config/ArMemGlobalStorageApp.cfg
+++ b/scenarios/ArMemTest/config/ArMemGlobalStorageApp.cfg
@@ -27,12 +27,12 @@
# ArmarX.ArMemGlobalStorage.EnableProfiling = false
-# ArmarX.ArMemGlobalStorage.LocalMemoryHostnames: The hostnames of the local memories
+# ArmarX.ArMemGlobalStorage.LocalMemoryHostnames: The hostnames of the local memories, comma separated
# Attributes:
-# - Default: Default value not mapped.
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ArMemGlobalStorage.LocalMemoryHostnames = Default value not mapped.
+ArmarX.ArMemGlobalStorage.LocalMemoryHostnames = "i61nb072"
# ArmarX.ArMemGlobalStorage.MinimumLoggingLevel: Local logging level only for this component
diff --git a/source/RobotAPI/applications/AronArmemGenerator/CMakeLists.txt b/source/RobotAPI/applications/AronArmemGenerator/CMakeLists.txt
deleted file mode 100644
index 1bc84c4a9..000000000
--- a/source/RobotAPI/applications/AronArmemGenerator/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-armarx_component_set_name("AronArmemGeneratorApp")
-set(COMPONENT_LIBS aron armem)
-armarx_add_component_executable(main.cpp)
diff --git a/source/RobotAPI/applications/AronGenerator/CMakeLists.txt b/source/RobotAPI/applications/AronGenerator/CMakeLists.txt
new file mode 100644
index 000000000..2840d4c3b
--- /dev/null
+++ b/source/RobotAPI/applications/AronGenerator/CMakeLists.txt
@@ -0,0 +1,3 @@
+armarx_component_set_name("AronGeneratorApp")
+set(COMPONENT_LIBS aron)
+armarx_add_component_executable(main.cpp)
diff --git a/source/RobotAPI/applications/AronArmemGenerator/cxxopts.hpp b/source/RobotAPI/applications/AronGenerator/cxxopts.hpp
similarity index 100%
rename from source/RobotAPI/applications/AronArmemGenerator/cxxopts.hpp
rename to source/RobotAPI/applications/AronGenerator/cxxopts.hpp
diff --git a/source/RobotAPI/applications/AronArmemGenerator/main.cpp b/source/RobotAPI/applications/AronGenerator/main.cpp
similarity index 88%
rename from source/RobotAPI/applications/AronArmemGenerator/main.cpp
rename to source/RobotAPI/applications/AronGenerator/main.cpp
index 48ae7dd4d..e235a0663 100644
--- a/source/RobotAPI/applications/AronArmemGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronGenerator/main.cpp
@@ -29,7 +29,7 @@
#include <boost/algorithm/string.hpp>
// CXXOPTS
-#include <RobotAPI/applications/AronArmemGenerator/cxxopts.hpp>
+#include <RobotAPI/applications/AronGenerator/cxxopts.hpp>
// ArmarX Executable
//#include <ArmarXCore/core/application/Application.h>
@@ -76,7 +76,18 @@ int main(int argc, char* argv[])
if (verbose)
{
- std::cout << "Parse the XML file...";
+ std::cout << "Welcome to the AronGenerator!" << std::endl;
+ std::cout << "Received the following parameters:" << std::endl;
+ std::cout << "\tFile: " << filename << std::endl;
+ std::cout << "\tOutput: " << output << std::endl;
+ std::cout << std::endl;
+ }
+
+ std::cout << "Generating a new cpp file out of <" + filename + ">" << std::endl;
+
+ if (verbose)
+ {
+ std::cout << "Parsing the XML file...";
}
std::filesystem::path input_file(filename);
@@ -85,7 +96,8 @@ int main(int argc, char* argv[])
std::cerr << "The file you passed has the wrong type." << std::endl;
}
- std::string new_name_with_extension = input_file.filename().replace_extension(".h").string();
+ std::string new_name_with_extension = input_file.filename().replace_extension("").string();
+ new_name_with_extension += ".aron.generated.h";
reader.parseFile(input_file);
if (verbose)
@@ -98,7 +110,7 @@ int main(int argc, char* argv[])
if (verbose)
{
- std::cout << "Run the type class generator...";
+ std::cout << "Running the type class generator...";
}
writer.generateTypeClasses(reader.getGenerateTypes());
@@ -176,6 +188,7 @@ int main(int argc, char* argv[])
}
ofs.close();
+ std::cout << "Finished generating <" + output_current_file + ">" << std::endl;
}
catch (const cxxopts::OptionException& e)
{
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 68dfd7829..1e3460c75 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -1,4 +1,4 @@
-add_subdirectory(AronArmemGenerator)
+add_subdirectory(AronGenerator)
add_subdirectory(WeissHapticUnit)
add_subdirectory(RobotControlUI)
add_subdirectory(RobotStateComponent)
diff --git a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
index fb1c918d4..4ca8e4d63 100644
--- a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
+++ b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
@@ -33,23 +33,23 @@ namespace armarx
{
armarx::PropertyDefinitionsPtr ArMemLocalStorage::createPropertyDefinitions()
{
- PropertyDefinitionsPtr defs{new ComponentPropertyDefinitions{getConfigIdentifier()}};
+ PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier(), false));
+ defs->optional(hostname_to_use, "MockedHostname", "Use a hostname mock. Leave empty to use the real one.");
defs->optional(maximum_segments, "MaximumNumberOfSegments", "Maximum number of segments (<0 means infinite)");
defs->optional(maximum_entries_per_segment, "MaximumEntriesPerSegment", "Maximum number of accepted datatypes per segment (<0 means infinite)");
defs->optional(maximum_entries_per_datatype, "MaximumEntriesPerDatatype", "Maximum number of accepted commits per datatype (<0 means infinite)");
-
return defs;
}
std::string ArMemLocalStorage::getDefaultName() const
{
- std::string hostname = getMyHostname();
- return GenerateLocalMemoryObjectNameFromHostname(hostname);
+ return GenerateLocalMemoryObjectNameFromHostname(hostname_to_use);
}
ArMemLocalStorage::ArMemLocalStorage() :
armarx::Component(),
armarx::armem::ArMemBase(),
+ hostname_to_use(getMyHostname()),
maximum_segments(-1),
maximum_entries_per_segment(-1),
maximum_entries_per_datatype(-1)
@@ -144,8 +144,8 @@ namespace armarx
void ArMemLocalStorage::checkStorageIntegrity() const
{
if (indexed_storage.size() != timestamped_storage.size() ||
- indexed_storage.size() != hashed_storage.size() ||
- timestamped_storage.size() != hashed_storage.size())
+ indexed_storage.size() != hashed_storage.size() ||
+ timestamped_storage.size() != hashed_storage.size())
{
throw LocalException("The memory is in an invalid state. The storages have different sizes! Please Check!");
}
@@ -164,27 +164,27 @@ namespace armarx
}
- ArMemCommitPtr ArMemLocalStorage::getLatestCommitFromSegment(const std::string& segment, const Ice::Current &)
+ ArMemCommitPtr ArMemLocalStorage::getLatestCommitFromSegment(const std::string& segment, const Ice::Current&)
{
- int index = indexed_storage[segment].size() -1;
- if(index >= 0)
+ int index = indexed_storage[segment].size() - 1;
+ if (index >= 0)
{
return indexed_storage[segment][index];
}
return nullptr;
}
- ArMemCommitPtr ArMemLocalStorage::getNextCommitFromSegmentForTimestamp(const std::string &, Ice::Long, const Ice::Current &)
+ ArMemCommitPtr ArMemLocalStorage::getNextCommitFromSegmentForTimestamp(const std::string&, Ice::Long, const Ice::Current&)
{
return nullptr;
}
- TimestampedArMemCommitList ArMemLocalStorage::getAllCommitsBetweenTimestampsFromSegment(const std::string &, Ice::Long, Ice::Long, const Ice::Current &)
+ TimestampedArMemCommitList ArMemLocalStorage::getAllCommitsBetweenTimestampsFromSegment(const std::string&, Ice::Long, Ice::Long, const Ice::Current&)
{
return {};
}
- TimestampedArMemCommitList ArMemLocalStorage::getAllCommitsFromSegment(const std::string &, const Ice::Current &)
+ TimestampedArMemCommitList ArMemLocalStorage::getAllCommitsFromSegment(const std::string&, const Ice::Current&)
{
return {};
}
diff --git a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
index e0e277b28..bc228dedb 100644
--- a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
+++ b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
@@ -81,6 +81,8 @@ namespace armarx
std::map<std::string, TimestampedDataTypeStorage> timestamped_storage;
std::map<std::string, HashedDataTypeStorage> hashed_storage;
+ std::string hostname_to_use;
+
long maximum_segments;
long maximum_entries_per_segment;
long maximum_entries_per_datatype;
diff --git a/source/RobotAPI/libraries/aron/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/test/CMakeLists.txt
index b3bc0820d..831b2d9c9 100644
--- a/source/RobotAPI/libraries/aron/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/test/CMakeLists.txt
@@ -1,5 +1,12 @@
+SET(TEST_NAME aronTest)
# Libs required for the tests
SET(LIBS ${LIBS} ArmarXCore aron)
+
+SET(ARON_XML_FILES
+ xmls/HumanPose.xml
+)
+
+generateAronCppInterface()
-armarx_add_test(aronTest aronTest.cpp "${LIBS}")
+armarx_add_test(${TEST_NAME} aronTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/aron/test/aron/HumanPose.aron.generated.h b/source/RobotAPI/libraries/aron/test/aron/HumanPose.aron.generated.h
new file mode 100644
index 000000000..b104597fd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/test/aron/HumanPose.aron.generated.h
@@ -0,0 +1,161 @@
+/*
+ * 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/>.
+ *
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ *************************************************************************
+ * WARNING: This file is autogenerated.
+ * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/HumanPose.xml
+ * Timestamp of generation: Mon Aug 31 17:00:22 2020
+ * Please do not edit since your changes may be overwritten on the next generation
+ * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ *************************************************************************
+ */
+
+
+#ifndef ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
+#define ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
+
+#include <string>
+#include <vector>
+#include <map>
+#include <Eigen/Core>
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
+#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
+#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
+
+namespace armarx
+{
+ class NaturalIKResult
+ : virtual public armarx::aron::codegeneration::AronCppClass
+ {
+ public:
+ std::vector<float> jointValues;
+ bool reached;
+
+ public:
+ NaturalIKResult()
+ {
+ initialize();
+ reset();
+ }
+
+ public:
+ /**
+ * @brief operator==() - This method checks whether all values equal another instance.
+ * @param i - The other instance
+ * @return - true, if all members are the same, false otherwise
+ */
+ bool operator==(const armarx::NaturalIKResult& i) const
+ {
+ if ( not (jointValues == i.jointValues))
+ return false;
+ if ( not (reached == i.reached))
+ return false;
+ return true;
+ }
+ /**
+ * @brief reset() - This method resets all member variables to default.
+ * @return - nothing
+ */
+ virtual void reset() override
+ {
+ jointValues.clear();
+ reached = {};
+ }
+ /**
+ * @brief initialize() - This method initializeses special base-class members.
+ * @return - nothing
+ */
+ virtual void initialize() override
+ {
+ // setup aronType
+ std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
+ armarx::aron::AronFloatType::PointerType aronTypeRoot_jointValues_listtype = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
+ armarx::aron::AronListType::PointerType aronTypeRoot_jointValues = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_jointValues_listtype));
+ aronTypeRoot_objectiteratorcontainer["jointValues"] = aronTypeRoot_jointValues;
+ armarx::aron::AronBoolType::PointerType aronTypeRoot_reached = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
+ aronTypeRoot_objectiteratorcontainer["reached"] = aronTypeRoot_reached;
+ armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::NaturalIKResult", aronTypeRoot_objectiteratorcontainer));
+ aronType = aronTypeRoot;
+ }
+ /**
+ * @brief write() - This method returns a new type from the member data types using a writer implementation.
+ * @param w - The writer implementation
+ * @return - the result of the writer implementation
+ */
+ virtual void write(armarx::aron::io::AronWriter& w) const override
+ {
+ w.writeStartDict();
+ w.writeKey("jointValues");
+ w.writeStartList();
+ for(unsigned int jointValues_listiterator = 0; jointValues_listiterator < jointValues.size(); ++jointValues_listiterator)
+ {
+ w.writeFloat(jointValues[jointValues_listiterator]);
+ }
+ w.writeEndList();
+ w.writeKey("reached");
+ w.writeBool(reached);
+ w.writeEndDict();
+ }
+ /**
+ * @brief read() - This method sets the struct members to new values given in a reader implementation.
+ * @param r - The reader implementation
+ * @return - nothing
+ */
+ virtual void read(armarx::aron::io::AronReader& r) override
+ {
+ reset();
+
+ r.readStartDict();
+ r.readMember("jointValues");
+ r.readStartList();
+ while(!r.readEndList())
+ {
+ float jointValues_listiterator;
+ jointValues_listiterator = r.readFloat();
+ jointValues.push_back(jointValues_listiterator);
+ }
+ r.readMember("reached");
+ reached = r.readBool();
+ r.readEndDict();
+ }
+ /**
+ * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
+ * @return - the result of the writer implementation
+ */
+ armarx::aron::AronDataPtr toAron() const
+ {
+ armarx::aron::io::AronDataNavigatorWriter writer;
+ this->write(writer);
+ return writer.getResult();
+ }
+ /**
+ * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
+ * @return - nothing
+ */
+ void fromAron(const armarx::aron::AronDataPtr& input)
+ {
+ armarx::aron::io::AronDataNavigatorReader reader(input);
+ this->read(reader);
+ }
+ }; // class NaturalIKResult
+} // namespace armarx
+
+#endif // ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/aronTest.cpp b/source/RobotAPI/libraries/aron/test/aronTest.cpp
index db0276168..8c7a28398 100644
--- a/source/RobotAPI/libraries/aron/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/test/aronTest.cpp
@@ -46,6 +46,8 @@
#include "generated/PrimitiveTest.h"
#include "generated/ObjectTest.h"
+#include "aron/humanPose.generated.aron.h"
+
#include <Eigen/Core>
diff --git a/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h b/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h
index 9298574ba..b92ab591f 100644
--- a/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h
+++ b/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h
@@ -1,30 +1,31 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated.
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
+/*
+ * 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/>.
+ *
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ *************************************************************************
+ * WARNING: This file is autogenerated.
+ * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
+ * Timestamp of generation: Mon Aug 31 14:07:08 2020
+ * Please do not edit since your changes may be overwritten on the next generation
+ * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ *************************************************************************
+ */
#ifndef ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
@@ -47,14 +48,14 @@ namespace armarx
public:
std::vector<float> jointValues;
bool reached;
-
+
public:
NaturalIKResult()
{
initialize();
reset();
}
-
+
public:
/**
* @brief operator==() - This method checks whether all values equal another instance.
@@ -63,10 +64,14 @@ namespace armarx
*/
bool operator==(const armarx::NaturalIKResult& i) const
{
- if ( not (jointValues == i.jointValues))
- return false;
- if ( not (reached == i.reached))
- return false;
+ if (not(jointValues == i.jointValues))
+ {
+ return false;
+ }
+ if (not(reached == i.reached))
+ {
+ return false;
+ }
return true;
}
/**
@@ -104,7 +109,7 @@ namespace armarx
w.writeStartDict();
w.writeKey("jointValues");
w.writeStartList();
- for(unsigned int jointValues_listiterator = 0; jointValues_listiterator < jointValues.size(); ++jointValues_listiterator)
+ for (unsigned int jointValues_listiterator = 0; jointValues_listiterator < jointValues.size(); ++jointValues_listiterator)
{
w.writeFloat(jointValues[jointValues_listiterator]);
}
@@ -121,11 +126,11 @@ namespace armarx
virtual void read(armarx::aron::io::AronReader& r) override
{
reset();
-
+
r.readStartDict();
r.readMember("jointValues");
r.readStartList();
- while(!r.readEndList())
+ while (!r.readEndList())
{
float jointValues_listiterator;
jointValues_listiterator = r.readFloat();
--
GitLab