diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index 8544c238abca345b587f78737198d6e5e51e7de6..f7e39ceefaefdc1bc131d075bd419fcd3fd20ba1 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -177,33 +177,60 @@ int main(int argc, char* argv[])
}
}
+ auto w = CppWriterPtr(new CppWriter());
+
+ // Generate enums at top of generated header file
+ std::vector<MetaEnumPtr> enums = writer.getTypeEnums();
+ if (verbose)
+ {
+ std::cout << "Now exporting enums..." << std::endl;
+ }
+
+ MetaEnum::Write(enums, w);
+
+ std::string enum_file_generation_content = w->getString();
+
+ if (verbose)
+ {
+ std::cout << "Now exporting enums... done!" << std::endl;
+ }
+
+ if (enums.size() > 0 && enum_file_generation_content == "")
+ {
+ std::cerr << "\033[31m" << "Error code 11 - Found error in code generation. Aborting!" << "\033[0m" << std::endl;
+ exit(1);
+ }
+
+ // Generate all classes
std::vector<MetaClassPtr> classes = writer.getTypeClasses();
if (verbose)
{
std::cout << "Now exporting classes..." << std::endl;
}
- auto w = CppWriterPtr(new CppWriter());
CppClass::Write(classes, w);
- std::string new_file_content = w->getString();
+ std::string class_file_generation_content = simox::alg::remove_prefix(w->getString(), enum_file_generation_content);
if (verbose)
{
std::cout << "Now exporting classes... done!" << std::endl;
}
- if (new_file_content == "")
+ if (classes.size() > 0 && class_file_generation_content == "")
{
- std::cerr << "Found error in code generation. Aborting!" << std::endl;
+ std::cerr << "\033[31m" << "Error code 21 - Found error in code generation. Aborting!" << "\033[0m" << std::endl;
exit(1);
}
+ std::time_t current_time = std::time(0);
+ std::tm* now = std::localtime(¤t_time);
+ std::string current_year = std::to_string(now->tm_year + 1900);
std::string new_file_header = "\
/* \n\
* This file is part of ArmarX. \n\
* \n\
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), \n\
+ * Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n\
* Karlsruhe Institute of Technology (KIT), all rights reserved. \n\
* \n\
* ArmarX is free software; you can redistribute it and/or modify \n\
@@ -228,7 +255,7 @@ int main(int argc, char* argv[])
************************************************************************* \n\
*/\n\n\n";
- std::string new_file_full_content = new_file_header + new_file_content;
+ std::string new_file_full_content = new_file_header + w->getString();
std::string new_name_with_extension = input_file.filename().replace_extension("").string();
new_name_with_extension += ".aron.generated.h";
@@ -247,7 +274,7 @@ int main(int argc, char* argv[])
{
if (verbose)
{
- std::cout << "File content not changed for <" + output_file.string() + ">" << std::endl;
+ std::cout << "\033[31m" << "Error code 31 - File content not changed for <" + output_file.string() + ">" << "\033[0m" << std::endl;
}
exit(0);
}
@@ -261,12 +288,12 @@ int main(int argc, char* argv[])
if (verbose)
{
- std::cout << "Finished generating <" + output_file.string() + ">. The new file ist called <" << output_file.string() << ">" << std::endl;
+ std::cout << "\033[32m" << "Finished generating <" + output_file.string() + ">. The new file ist called <" << output_file.string() << ">" << "\033[0m" << std::endl;
}
}
catch (const cxxopts::OptionException& e)
{
- std::cerr << "Error in parsing cxxopts options: " << e.what() << std::endl;
+ std::cerr << "\033[31m" << "Error code 01 - Error in parsing cxxopts options: " << e.what() << "\033[0m" << std::endl;
exit(1);
}
exit(0);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
index 942d036f3e6ed88f012ccd2577c703bd85ac2c26..8649037d81255c299cb37d5e10c420b7df54fd6e 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
@@ -31,7 +31,8 @@
#include <typeindex>
// ArmarX
-#include <ArmarXCore/libraries/cppgen/MetaClass.h>
+#include <ArmarXCore/libraries/cppgen/CppEnum.h>
+#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
@@ -61,12 +62,18 @@ namespace armarx::aron::codegenerator
return typeClasses;
}
+ std::vector<MetaEnumPtr> getTypeEnums() const // TODO: Create Meta Enum class to abstract away cpp details
+ {
+ return typeEnums;
+ }
+
protected:
virtual void addSpecificReaderMethods() = 0;
virtual void addSpecificWriterMethods() = 0;
protected:
std::vector<MetaClassPtr> typeClasses;
+ std::vector<MetaEnumPtr> typeEnums;
std::string producerName;
std::vector<codegenerator::WriterInfo> dataWriters;
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 41d39e44a9548099bc85ef8a22347796ba740717..a62bb8b681dfa73e4b641d10ca6e0b7d3d17af49 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -247,17 +247,19 @@ namespace armarx::aron::codegenerator::cpp
ARMARX_CHECK_NOT_NULL(nav);
generator::IntEnumClass generator(*nav);
+
+ // Create enum class and add to enums
+ CppEnumPtr enumrepresentation = setupEnumPtr(publicGenerateIntEnumType, generator);
+ typeEnums.push_back(enumrepresentation);
+
+ // Generate aron wrapper class and add to classes
CppClassPtr c = setupBasicCppClass(publicGenerateIntEnumType, generator);
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
// ctor
- c->addCtor(generator.toInnerEnumCtor(c->getName()));
-
- // Specific methods
- CppEnumPtr enumrepresentation = generator.toInnerEnumDefinition();
- c->addInnerEnum(enumrepresentation);
+ c->addCtor(generator.toEnumCtor(c->getName()));
CppMethodPtr toString = generator.toToStringMethod();
c->addMethod(toString);
@@ -346,6 +348,33 @@ namespace armarx::aron::codegenerator::cpp
}
}
+ CppEnumPtr Writer::setupEnumPtr(const typereader::GenerateInfo& info, const generator::IntEnumClass& gen) const
+ {
+ const auto& type = gen.getType();
+ 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());
+ }
+
+ const std::string classCppTypename = gen.getClassCppTypename();
+
+ std::vector<std::string> namespaces = info.getNamespaces();
+ std::string rawObjectName = info.getNameWithoutNamespace();
+ namespaces.push_back(simox::alg::to_lower(rawObjectName) + "_details");
+
+ std::string enumdoc = "The enum definition of the enum of the auogenerated class '" + gen.getFullClassCppTypename() + "'.";
+ CppEnumPtr e = std::make_shared<CppEnum>(namespaces, "Enum");
+ auto enumFields = gen.toEnumFields();
+
+ for (const auto& field : enumFields)
+ {
+ e->addField(field);
+ }
+
+ return e;
+ }
+
CppClassPtr Writer::setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const
{
const auto& type = gen.getType();
@@ -393,7 +422,7 @@ namespace armarx::aron::codegenerator::cpp
}
}
- // add aron includes
+ // always 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>");
@@ -434,7 +463,7 @@ namespace armarx::aron::codegenerator::cpp
void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const generator::ObjectClass& o) const
{
- auto publicFields = o.getPublicVariableDeclarations("");
+ auto publicFields = o.getPublicVariableDeclarations(c->getName());
for (const auto& f : publicFields)
{
if (auto it = doc_members.find(f->getName()); it != doc_members.end())
@@ -447,7 +476,7 @@ namespace armarx::aron::codegenerator::cpp
void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass& o) const
{
- auto publicFields = o.getPublicVariableDeclarations("");
+ auto publicFields = o.getPublicVariableDeclarations(c->getName());
for (const auto& f : publicFields)
{
if (auto it = doc_members.find(f->getName()); it != doc_members.end())
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
index 9405f63952de447de96a97e68fb3614bfec47807..3aa93f1775c7fe460935552c9eb078f8ae45ad0c 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
@@ -59,6 +59,8 @@ namespace armarx::aron::codegenerator::cpp
virtual void addSpecificReaderMethods() override;
CppClassPtr setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const;
+ CppEnumPtr setupEnumPtr(const typereader::GenerateInfo& info, const generator::IntEnumClass& gen) const;
+
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::ObjectClass&) const;
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass&) const;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index f5463258db1423ba317c428b2d604907b913755a..ce2bbb8dd8df9bfc0fe5c8482e4a7921b42fdfa7 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -44,7 +44,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
}
- std::vector<CppFieldPtr> IntEnumClass::getPublicVariableDeclarations(const std::string&) const
+ std::vector<CppFieldPtr> IntEnumClass::getPublicVariableDeclarations(const std::string& className) const
{
std::vector<CppFieldPtr> fields;
std::stringstream enum_to_name;
@@ -52,6 +52,9 @@ namespace armarx::aron::codegenerator::cpp::generator
std::stringstream enum_to_value;
std::stringstream value_to_enum;
+ // add legacy typedef
+ fields.push_back(std::make_shared<CppField>("using", std::string(IMPL_ENUM), simox::alg::to_lower(className) + "_details::Enum", "Legacy typedef of enum"));
+
enum_to_name << "{" << std::endl;
name_to_enum << "{" << std::endl;
enum_to_value << "{" << std::endl;
@@ -164,7 +167,7 @@ namespace armarx::aron::codegenerator::cpp::generator
return {{{"value", ARON_OTHER_ACCESSOR + ".value"}}, false};
}
- CppCtorPtr IntEnumClass::toInnerEnumCtor(const std::string& name) const
+ CppCtorPtr IntEnumClass::toEnumCtor(const std::string& name) const
{
CppCtorPtr c = std::make_shared<CppCtor>(name + "(const " + std::string(IMPL_ENUM) + " e)");
std::vector<std::pair<std::string, std::string>> initList = {{"value", "e"}};
@@ -173,12 +176,12 @@ namespace armarx::aron::codegenerator::cpp::generator
return c;
}
- CppEnumPtr IntEnumClass::toInnerEnumDefinition() const
+ std::vector<CppEnumFieldPtr> IntEnumClass::toEnumFields() const
{
- CppEnumPtr e = std::make_shared<CppEnum>(std::string(IMPL_ENUM), "The internal enum definition of the enum of this autogenerated class.");
+ std::vector<CppEnumFieldPtr> e;
for (const auto& [key, value] : type.getAcceptedValueMap())
{
- e->addField(std::make_shared<CppEnumField>(key));
+ e.push_back(std::make_shared<CppEnumField>(key));
}
return e;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
index 10d6ca0c14d8100e71d78944f24fd3f46870b8e1..53e9dd4a31143ad193e29fa59aec0aed351860a5 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
@@ -54,8 +54,8 @@ namespace armarx::aron::codegenerator::cpp::generator
// TODO: Move some of those methods to upper class for enums (if we want to support multiple enums)
//CppCtorPtr toCopyCtor(const std::string&) const;
- CppCtorPtr toInnerEnumCtor(const std::string&) const;
- CppEnumPtr toInnerEnumDefinition() const;
+ std::vector<CppEnumFieldPtr> toEnumFields() const;
+ CppCtorPtr toEnumCtor(const std::string&) const;
CppMethodPtr toIntMethod() const;
CppMethodPtr toCopyAssignmentMethod() const;
CppMethodPtr toEnumAssignmentMethod() const;