From c42f3fe21489b6c5eb74083dab8216e2897f2278 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 10 Feb 2023 08:43:06 +0100
Subject: [PATCH] nd array reading
---
.../NlohmannJSONReaderWithoutTypeCheck.cpp | 60 ++++++++++++++++++-
1 file changed, 59 insertions(+), 1 deletion(-)
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 994663799..e9249e757 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
@@ -19,13 +19,21 @@
*/
// STD/STL
+#include <cmath>
+#include <cstdint>
+#include <cstring>
#include <memory>
#include <numeric>
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
+#include "ArmarXCore/core/logging/Logging.h"
+
// Header
#include "NlohmannJSONReaderWithoutTypeCheck.h"
// ArmarX
+#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h>
@@ -56,6 +64,26 @@ namespace armarx::aron::data::reader
elements = input.get<std::map<std::string, nlohmann::json>>();
}
+
+ const std::map<std::string, type::matrix::ElementType> ElementTypeAsString = {
+ {"short", ::armarx::aron::type::matrix::INT16},
+ {"int", ::armarx::aron::type::matrix::INT32},
+ {"long", ::armarx::aron::type::matrix::INT64},
+ {"float", ::armarx::aron::type::matrix::FLOAT32},
+ {"double", ::armarx::aron::type::matrix::FLOAT64}};
+
+ template <typename T>
+ void
+ readTo(const nlohmann::json& input, std::vector<unsigned char>& data)
+ {
+ const std::vector<T> d = input.at("data").get<std::vector<T>>();
+
+ const std::size_t bufferLen = d.size() * sizeof(T);
+
+ data.resize(bufferLen);
+ memcpy(data.data(), d.data(), bufferLen);
+ }
+
void
NlohmannJSONReaderWithoutTypeCheck::readNDArray(const nlohmann::json& input,
std::vector<int>& shape,
@@ -64,7 +92,37 @@ namespace armarx::aron::data::reader
Path& p)
{
shape = input.at("dims").get<std::vector<int>>();
- data = input.at("data").get<std::vector<unsigned char>>();
+
+ typeAsString = input.at("type").get<std::string>();
+
+ ARMARX_CHECK(ElementTypeAsString.count(typeAsString) > 0)
+ << "Invalid element `" << typeAsString << "`. Valid elements are "
+ << simox::alg::get_keys(ElementTypeAsString) << ".";
+
+ const type::matrix::ElementType elementType = ElementTypeAsString.at(typeAsString);
+
+ // as we need to return a vector<uchar>, we first need to read the json array as the specific type
+ // and then convert it to the vector<uchar>
+ switch (elementType)
+ {
+ case type::matrix::INT16:
+ readTo<std::int16_t>(input, data);
+ break;
+ case type::matrix::INT32:
+ readTo<std::int32_t>(input, data);
+ break;
+ case type::matrix::INT64:
+ readTo<std::int64_t>(input, data);
+ break;
+ case type::matrix::FLOAT32:
+ readTo<std::float_t>(input, data);
+ break;
+ case type::matrix::FLOAT64:
+ readTo<std::double_t>(input, data);
+ break;
+ }
+
+ ARMARX_INFO << VAROUT(typeAsString);
}
void
--
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