From a550f66bc565584955463ec056fc09819c639b98 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Mon, 27 Mar 2023 15:36:02 +0200
Subject: [PATCH] fix codegeneratio of extending objects. Make toAron and
fromAron methods virtual. Add special base classes for objects and enums
which allow template calling of toAron and fromAron methods
---
.../codegenerator/codewriter/cpp/Writer.cpp | 24 ++--
.../codewriter/cpp/generator/Generator.cpp | 10 +-
.../cpp/generator/toplevel/ObjectClass.cpp | 18 +--
.../codegenerator/helper/ReaderInfo.h | 2 +-
.../codegenerator/helper/WriterInfo.h | 2 +-
.../aron/codegeneration/test/CMakeLists.txt | 18 +++
.../test/aronConversionTest.cpp | 97 +++++++++++++++
.../libraries/aron/core/CMakeLists.txt | 2 +
.../codegeneration/cpp/AronGeneratedIntEnum.h | 68 +++++++++++
.../codegeneration/cpp/AronGeneratedObject.h | 111 ++++++++++++++++++
.../core/type/variant/container/Object.cpp | 7 ++
11 files changed, 329 insertions(+), 30 deletions(-)
create mode 100644 source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
create mode 100644 source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
create mode 100644 source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index a597e8ecc..c65402434 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -90,6 +90,7 @@ namespace armarx::aron::codegenerator::cpp
toAron.include =
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAron.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
+ toAron.override = true;
dictDataWriters.push_back(toAron);
}
{
@@ -101,6 +102,7 @@ namespace armarx::aron::codegenerator::cpp
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAronDTO.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
toAronDTO.enforceMemberAccess = "->toAronDictDTO()";
+ toAronDTO.override = true;
dictDataWriters.push_back(toAronDTO);
}
{
@@ -138,6 +140,7 @@ namespace armarx::aron::codegenerator::cpp
toAron.include =
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAron.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
+ toAron.override = true;
intEnumDataWriters.push_back(toAron);
}
{
@@ -149,6 +152,7 @@ namespace armarx::aron::codegenerator::cpp
"<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
toAronDTO.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
toAronDTO.enforceMemberAccess = "->toAronIntDTO()";
+ toAronDTO.override = true;
intEnumDataWriters.push_back(toAronDTO);
}
{
@@ -201,6 +205,7 @@ namespace armarx::aron::codegenerator::cpp
fromAron.argumentType = "armarx::aron::data::DictPtr";
fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
dictDataReaders.push_back(fromAron);
}
{
@@ -210,6 +215,7 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAronDTO.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
+ fromAronDTO.override = true;
dictDataReaders.push_back(fromAronDTO);
}
}
@@ -236,6 +242,7 @@ namespace armarx::aron::codegenerator::cpp
fromAron.argumentType = "armarx::aron::data::IntPtr";
fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
intEnumDataReaders.push_back(fromAron);
}
{
@@ -246,6 +253,7 @@ namespace armarx::aron::codegenerator::cpp
fromAronDTO.include =
"<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Int>";
+ fromAronDTO.override = true;
intEnumDataReaders.push_back(fromAronDTO);
}
}
@@ -274,7 +282,7 @@ namespace armarx::aron::codegenerator::cpp
std::vector<std::string> tmpl_requires;
for (auto& t : type->getTemplates())
{
- tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedClass<" + t + ">");
+ tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedObject<" + t + ">");
tmpl.push_back("class " + t);
}
std::string templateDef = "template <" + simox::alg::join(tmpl, ", ") + ">";
@@ -290,7 +298,7 @@ namespace armarx::aron::codegenerator::cpp
}
else
{
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedObject<" + generator.getFullClassCppTypename() + ">");
}
// Writermethods
@@ -306,10 +314,6 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
- if (type->getExtends() != nullptr)
- {
- info.extends = true;
- }
CppMethodPtr convert = generator.toSpecializedDataWriterMethod(info);
c->addPublicMethod(convert);
}
@@ -344,10 +348,6 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
- if (type->getExtends() != nullptr)
- {
- info.extends = true;
- }
CppMethodPtr convert = generator.toSpecializedDataReaderMethod(info);
c->addPublicMethod(convert);
}
@@ -391,7 +391,7 @@ namespace armarx::aron::codegenerator::cpp
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedIntEnum<" + generator.getFullClassCppTypename() + ">");
// ctor
c->addCtor(generator.toEnumCtor(c->getName()));
@@ -563,6 +563,8 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude("<RobotAPI/libraries/aron/core/aron_conversions.h>");
c->addInclude("<RobotAPI/libraries/aron/core/rw.h>");
c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h>");
// ctor
c->addCtor(gen.toCtor(c->getName()));
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index a0715b220..d3c61320d 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -317,10 +317,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief " << info.methodName << "() - This method returns a new data from the member data types using a writer implementation. \n";
doc << "@return - the result of the writer implementation";
- const std::string fin = info.extends ? " final" : "";
- const std::string virt = info.extends ? "" : "virtual ";
-
- CppMethodPtr m = CppMethodPtr(new CppMethod(virt + info.returnType + " " + info.methodName + "() const" + fin, doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod(info.returnType + " " + info.methodName + "() const" + (info.override ? " override" : ""), doc.str()));
m->addLine(info.writerClassType + " writer;");
m->addLine("return " + info.enforceConversion + "(this->write(writer))" + info.enforceMemberAccess + ";");
@@ -334,10 +331,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief " << info.methodName << " - This method sets the struct members to new values given in a reader implementation. \n";
doc << "@return - nothing";
- const std::string fin = info.extends ? " final" : "";
- const std::string virt = info.extends ? "" : "virtual ";
-
- CppMethodPtr m = CppMethodPtr(new CppMethod(virt + "void " + info.methodName + "(const " + info.argumentType + "& input)" + fin, doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("void " + info.methodName + "(const " + info.argumentType + "& input)" + (info.override ? " override" : ""), doc.str()));
m->addLine(info.readerClassType + " reader;");
m->addLine("this->read(reader, " + info.enforceConversion + "(input)" + info.enforceMemberAccess + ");");
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index e3af89daa..605c7b865 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -47,7 +47,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::vector<std::string> ObjectClass::getRequiredIncludes() const
{
std::vector<std::string> ret;
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
(void) key;
auto child_s = FromAronType(*child);
@@ -59,7 +59,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::vector<CppFieldPtr> ObjectClass::getPublicVariableDeclarations(const std::string&) const
{
std::vector<CppFieldPtr> fields;
- for (const auto& [key, member] : type.getMemberTypes())
+ for (const auto& [key, member] : type.getDirectMemberTypes())
{
auto member_s = FromAronType(*member);
std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
@@ -77,7 +77,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetSoft();");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getResetSoftBlock(key);
@@ -95,7 +95,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetHard();");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getResetHardBlock(key);
@@ -127,7 +127,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
b->addLine("// members of " + this->getFullInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_return_variant;
@@ -176,7 +176,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
block_if_data->addLine("// members of " + this->getFullInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_return_variant;
@@ -210,7 +210,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readDict("+variantAccessor+", "+OBJECT_MEMBERS_ACCESSOR+"); // of top level object " + getInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
@@ -230,7 +230,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("if (not (" + extends_s->getFullInstantiatedCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
block_if_data->addLineAsBlock("return false;");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
@@ -250,7 +250,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
bool anyComplex = false;
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
auto initList = child_s->getCopyCtorInitializers(key);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
index 58dda6381..486a57879 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
@@ -37,7 +37,7 @@ namespace armarx::aron::codegenerator
std::string include;
std::string enforceConversion = "";
std::string enforceMemberAccess = "";
- bool extends = false;
+ bool override = false;
};
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
index d3cff5ef8..c7dc87033 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
@@ -37,6 +37,6 @@ namespace armarx::aron::codegenerator
std::string include;
std::string enforceConversion = "";
std::string enforceMemberAccess = "";
- bool extends = false;
+ bool override = false;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
index d7add84ad..3b05caec2 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -106,6 +106,24 @@ armarx_add_test(
${Simox_INCLUDE_DIR}
)
+######################
+# ARON CONVERSION TEST
+######################
+armarx_add_test(
+ TEST_NAME
+ aronConversionTest
+ TEST_FILE
+ aronConversionTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/HumanPoseTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
######################
# ARON JSON EXPORT TEST
######################
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
new file mode 100644
index 000000000..636f9bde6
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
@@ -0,0 +1,97 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::aron
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::aron
+
+#define ARMARX_BOOST_TEST
+
+// STD/STL
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <numeric>
+
+// Test
+#include <RobotAPI/Test.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.aron.generated.h>
+
+
+using namespace armarx;
+using namespace aron;
+
+namespace armarx
+{
+ class HumanPoseBO
+ {
+ public:
+ std::vector<float> jointValues;
+ bool reached;
+
+ HumanPoseBO() = default;
+
+ void fromAron(const HumanPoseTest& aron)
+ {
+ jointValues = aron.jointValues;
+ reached = aron.reached;
+ }
+
+ HumanPoseTest toAron()
+ {
+ HumanPoseTest aron;
+ aron.jointValues = jointValues;
+ aron.reached = reached;
+ return aron;
+ }
+ };
+
+ void fromAron(const HumanPoseTest& aron, HumanPoseBO& bo)
+ {
+ bo.jointValues = aron.jointValues;
+ bo.reached = aron.reached;
+ }
+
+ void toAron(HumanPoseTest& aron, const HumanPoseBO& bo)
+ {
+ aron.jointValues = bo.jointValues;
+ aron.reached = bo.reached;
+ }
+
+ BOOST_AUTO_TEST_CASE(AronAssignmentTest)
+ {
+ armarx::HumanPoseTest aron;
+ aron.jointValues = {1,2,3,4};
+ aron.reached = true;
+
+ HumanPoseBO bo;
+ aron.to(bo);
+
+ BOOST_CHECK((aron.jointValues == bo.jointValues));
+
+ HumanPoseBO bo2;
+ aron.to(bo, &fromAron);
+
+ BOOST_CHECK((aron.jointValues == bo2.jointValues));
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index e17910e7f..2fb890b86 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -107,6 +107,8 @@ set(LIB_HEADERS
Path.h
codegeneration/cpp/AronGeneratedClass.h
+ codegeneration/cpp/AronGeneratedObject.h
+ codegeneration/cpp/AronGeneratedIntEnum.h
aron_conversions.h
rw.h
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
new file mode 100644
index 000000000..f173775da
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
@@ -0,0 +1,68 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+ class AronGeneratedIntEnumBase : public AronGeneratedClass
+ {
+ public:
+ AronGeneratedIntEnumBase() = default;
+ virtual ~AronGeneratedIntEnumBase() = default;
+
+ /// Convert the current bo to an aron variant data dict
+ virtual armarx::aron::data::IntPtr toAron() const = 0;
+
+ /// Convert the current bo to the ice representation of an aron variant data dict
+ virtual armarx::aron::data::dto::AronIntPtr toAronDTO() const = 0;
+
+ /// Set all members of the current bo according to the aron variant data dict
+ virtual void fromAron(const armarx::aron::data::IntPtr& input) = 0;
+
+ /// Set all members of the current bo according to the ice representation of an aron variant data dict
+ virtual void fromAron(const armarx::aron::data::dto::AronIntPtr& input) = 0;
+ };
+
+ template <class Derived>
+ class AronGeneratedIntEnum :
+ public AronGeneratedIntEnumBase
+ {
+ public:
+
+ };
+
+ template <class T>
+ concept isAronGeneratedIntEnum = std::is_base_of<AronGeneratedIntEnumBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+ using AronGeneratedIntEnumBase = aron::cpp::AronGeneratedIntEnumBase;
+
+ template <class Derived>
+ using AronGeneratedIntEnum = aron::cpp::AronGeneratedIntEnum<Derived>;
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
new file mode 100644
index 000000000..17d94831b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
@@ -0,0 +1,111 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+
+ class AronGeneratedObjectBase :
+ public AronGeneratedClass
+ {
+ public:
+ AronGeneratedObjectBase() = default;
+ virtual ~AronGeneratedObjectBase() = default;
+
+ /// Convert the current bo to an aron variant data dict
+ virtual armarx::aron::data::DictPtr toAron() const = 0;
+
+ /// Convert the current bo to the ice representation of an aron variant data dict
+ virtual armarx::aron::data::dto::DictPtr toAronDTO() const = 0;
+
+ /// Set all members of the current bo according to the aron variant data dict
+ virtual void fromAron(const armarx::aron::data::DictPtr& input) = 0;
+
+ /// Set all members of the current bo according to the ice representation of an aron variant data dict
+ virtual void fromAron(const armarx::aron::data::dto::DictPtr& input) = 0;
+ };
+
+ template <class Derived>
+ class AronGeneratedObject :
+ public AronGeneratedObjectBase
+ {
+ public:
+ AronGeneratedObject() = default;
+ virtual ~AronGeneratedObject() = default;
+
+ template <class T>
+ void to(T& t) const
+ {
+ const Derived* d = dynamic_cast<const Derived*>(this);
+ if (d)
+ {
+ t.fromAron(*d);
+ }
+ }
+
+ template <class T>
+ void from(const T& t)
+ {
+ Derived* d = dynamic_cast<Derived*>(this);
+ if (d)
+ {
+ t.toAron(*d);
+ }
+ }
+
+ template <class T>
+ void to(T& t, void(*fromAron)(const Derived&, T&)) const
+ {
+ const Derived* d = dynamic_cast<const Derived*>(this);
+ if (d)
+ {
+ fromAron(*d, t);
+ }
+ }
+
+ template <class T>
+ void from(const T& t, void(*toAron)(Derived&, const T&))
+ {
+ Derived* d = dynamic_cast<Derived*>(this);
+ if (d)
+ {
+ toAron(*d, t);
+ }
+ }
+ };
+
+ template <class T>
+ concept isAronGeneratedObject = std::is_base_of<AronGeneratedObjectBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+ using AronGeneratedObjectBase = aron::cpp::AronGeneratedObjectBase;
+
+ template <class Derived>
+ using AronGeneratedObject = aron::cpp::AronGeneratedObject<Derived>;
+}
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 1b26bd769..526cc9f05 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -88,6 +88,13 @@ namespace armarx::aron::type
std::map<std::string, VariantPtr> Object::getMemberTypes() const
{
std::map<std::string, VariantPtr> ret = memberTypes;
+ if (extends)
+ {
+ for (const auto& [key, t] : extends->getMemberTypes())
+ {
+ ret.insert({key, t});
+ }
+ }
return ret;
}
--
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