From aa745c4259a6a8f799922479341b54a924644467 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 9 Feb 2023 11:06:09 +0000
Subject: [PATCH] fix redundant members, add assertions to aron generated file
---
.../cpp/generator/ndarray/Matrix.cpp | 19 +++++++++++++++----
.../codewriter/cpp/generator/ndarray/Matrix.h | 3 ---
.../cpp/generator/toplevel/ObjectClass.cpp | 6 ++++--
.../codegeneration/cpp/AronGeneratedClass.h | 1 +
.../NlohmannJSONReaderWithoutTypeCheck.cpp | 3 ++-
5 files changed, 22 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 9b84c8204..41efdfdf1 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -44,7 +44,7 @@ namespace armarx::aron::codegenerator::cpp::generator
"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), matrixType(n)
+ simox::meta::get_type_name<type::dto::Matrix>(), n)
{
}
@@ -101,14 +101,25 @@ namespace armarx::aron::codegenerator::cpp::generator
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);
-
- if(matrixType.getRows() == Eigen::Dynamic or matrixType.getCols() == Eigen::Dynamic)
+
+ if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and this->type.getCols() != -1)
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0));");
+ }
+
+ if(this->type.getRows() != -1 and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
+ {
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(1));");
+ }
+
+ if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
{
- // TODO assert(aron_variant_kpImpedance_shape.size() == 2);
block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0), " + dims + ".at(1));");
}
+ block_if_data->addLine("assert(" + cppAccessor + nextEl() + "rows() == " + dims + ".at(0) && " + cppAccessor + nextEl() + "cols() == " + dims + ".at(1) && \"Dimensions of member '"+cppAccessor+"' do not match (simox::alg::to_string(dims, ',')). Got (" + cppAccessor + nextEl() + "rows(), " + cppAccessor + nextEl() + "cols()) instead.\");");
block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "data()), "+data+".data(), "+data+".size());");
return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
index 8c8c24606..9f56f2b98 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
@@ -47,8 +47,5 @@ namespace armarx::aron::codegenerator::cpp::generator
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;
-
- private:
- const type::Matrix matrixType;
};
}
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 0d54dc8bf..6fef11afd 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
@@ -213,8 +213,10 @@ namespace armarx::aron::codegenerator::cpp::generator
for (const auto& [key, child] : type.getMemberTypes())
{
const auto child_s = FromAronType(*child);
- const std::string child_variant_accessor = OBJECT_MEMBERS_ACCESSOR + ".at(\"" + key + "\")";
- block_if_data->appendBlock(child_s->getReadBlock(key, child_variant_accessor));
+ std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
+ block_if_data->addLine("auto " + child_accessor + " = " + OBJECT_MEMBERS_ACCESSOR + ".find(\"" + key + "\");");
+ block_if_data->addLine("assert(" + child_accessor + " != " + OBJECT_MEMBERS_ACCESSOR + ".end() && \"Missing member '" + key + "' in aron object '" + getFullClassCppTypename() + "'.\");");
+ block_if_data->appendBlock(child_s->getReadBlock(key, child_accessor + "->second"));
}
return block_if_data;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
index 552c653a9..a076cdc16 100644
--- a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
@@ -28,6 +28,7 @@
#include <string>
#include <vector>
#include <map>
+#include <cassert>
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
index adebe0711..994663799 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
@@ -104,8 +104,9 @@ namespace armarx::aron::data::reader
{
i = input;
}
+
bool
- NlohmannJSONReaderWithoutTypeCheck::readNull(InputType& input) // defaulted implementation
+ NlohmannJSONReaderWithoutTypeCheck::readNull(InputType& input)
{
try
{
--
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