diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index ce2acfef11109d06328aff9bb18a1cba7a5af7c5..3de3dc06515dcc47c36657e51edb56baddb76823 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -136,9 +136,9 @@ int main(int argc, char* argv[])
if (verbose)
{
std::cout << "Parsing the XML file... done!" << std::endl;
- std::cout << "--> Found " << reader.getGenerateTypes().size() << " types." << std::endl;
+ std::cout << "--> Found " << reader.getGenerateObjects().size() << " types." << std::endl;
std::cout << "--> They are: " << std::endl;
- for (const auto& generateType : reader.getGenerateTypes())
+ for (const auto& generateType : reader.getGenerateObjects())
{
std::cout << "----> " << generateType->typeName << "( with " << generateType->nestedObjects.size() << " inner definitions)" << std::endl;
}
@@ -151,12 +151,13 @@ int main(int argc, char* argv[])
std::cout << "Running the type class generator..." << std::endl;
}
- writer.generateTypeClasses(reader.getGenerateTypes());
+ writer.generateTypeIntEnums(reader.getGenerateIntEnums());
+ writer.generateTypeObjects(reader.getGenerateObjects());
if (verbose)
{
std::cout << "Running the type class generator... done!" << std::endl;
- std::cout << "--> Found " << writer.getTypeClasses().size() << " type classes." << std::endl;
+ std::cout << "--> Found " << writer.getTypeClasses().size() << " type objects." << std::endl;
std::cout << "--> They are: " << std::endl;
for (const auto& c : writer.getTypeClasses())
{
@@ -248,7 +249,7 @@ int main(int argc, char* argv[])
if (verbose)
{
- std::cout << "Finished generating <" + output_file.string() + ">" << std::endl;
+ std::cout << "Finished generating <" + output_file.string() + ">. The new file ist called <" << output_file.string() << ">" << std::endl;
}
}
catch (const cxxopts::OptionException& e)
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 5e85729b15a7afbf8855a6eca1059062635df405..844097e2b278b7b4dc2b92bb38daa2ea47aa8123 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -145,6 +145,7 @@ armarx_enable_aron_file_generation_for_target(
${LIB_NAME}
ARON_FILES
${ARON_FILES}
+ #ENABLE_DEBUG_INFO
)
diff --git a/source/RobotAPI/libraries/armem/core/aron/MemoryID.xml b/source/RobotAPI/libraries/armem/core/aron/MemoryID.xml
index d7ba24e0525a8f9087ac1d9200e910fa03bd1ee5..11d0fee395edca2c597dc1ea9de53dfbd7f9eae9 100644
--- a/source/RobotAPI/libraries/armem/core/aron/MemoryID.xml
+++ b/source/RobotAPI/libraries/armem/core/aron/MemoryID.xml
@@ -1,8 +1,7 @@
-<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::armem::aron::MemoryID'>
+ <Object name='armarx::armem::aron::MemoryID'>
<ObjectChild key='memoryName'>
<string />
</ObjectChild>
@@ -21,6 +20,6 @@
<ObjectChild key='instanceIndex'>
<int />
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem/core/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp b/source/RobotAPI/libraries/armem/core/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
index 641db4fa43b2b4f5f268efdec1847c96857c05f1..3742996cda7cf4f03a15615a5ba7a296dfeba591 100644
--- a/source/RobotAPI/libraries/armem/core/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
+++ b/source/RobotAPI/libraries/armem/core/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
@@ -5,6 +5,7 @@
#include <RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
namespace armarx::armem::io
diff --git a/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp b/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
index 2d67aae02af1bd058cd2d05720c7d8d69f4fdab2..9168f8adf64313f17a21700a50d93113db60954c 100644
--- a/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
+++ b/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
@@ -247,7 +247,7 @@ namespace armarx::armem::io
aron::typenavigator::ObjectNavigatorPtr DiskWriter::wrapType(const aron::typenavigator::ObjectNavigatorPtr& t) const
{
aron::typenavigator::ObjectNavigatorPtr typeWrapped(new aron::typenavigator::ObjectNavigator());
- typeWrapped->setObjectName(t->getObjectName() + "__ltm_export");
+ typeWrapped->setObjectName(t->getName() + "__ltm_export");
typeWrapped->addMemberType(DISK_READER_WRITER_DATA_FIELD, t);
typeWrapped->addMemberType(DISK_READER_WRITER_TIME_STORED_FIELD, aron::typenavigator::LongNavigatorPtr(new aron::typenavigator::LongNavigator()));
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
index dbd016df71bb87a325088c6d7acff4393a650cde..06c23bcc897291e714be66f329d87c09b3cc046a 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
@@ -291,7 +291,7 @@ namespace armarx::armem::gui
std::string typeName;
if (container.aronType())
{
- typeName = container.aronType()->getObjectName();
+ typeName = container.aronType()->getName();
std::string del = "::";
size_t find = typeName.rfind(del);
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index c515fb3054fe53bf325e6381919c32cb96a28b4f..abc8a843057a029c3453e7e56abeab962af02a15 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -76,6 +76,8 @@ set(LIB_FILES
codegenerator/codeWriter/cpp/Writer.cpp
codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+ codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+ codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
codegenerator/codeWriter/cpp/serializer/container/List.cpp
codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -188,6 +190,7 @@ set(LIB_HEADERS
codegenerator/WriterInfo.h
codegenerator/ReaderInfo.h
codegenerator/GenerateTypeInfo.h
+ codegenerator/GenerateIntEnumInfo.h
codegenerator/codeWriter/CodeWriter.h
codegenerator/codeWriter/SerializerFactory.h
@@ -195,6 +198,8 @@ set(LIB_HEADERS
codegenerator/codeWriter/cpp/AronCppClass.h
codegenerator/codeWriter/cpp/Writer.h
codegenerator/codeWriter/cpp/serializer/Serializer.h
+ codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
+ codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
codegenerator/codeWriter/cpp/serializer/container/Dict.h
codegenerator/codeWriter/cpp/serializer/container/List.h
codegenerator/codeWriter/cpp/serializer/container/Object.h
diff --git a/source/RobotAPI/libraries/aron/core/Config.h b/source/RobotAPI/libraries/aron/core/Config.h
index a33a4539c01c04941bec2683d0424211338a0958..fc05237a22dab5dc57cb4f44b6d4b9616cc379d2 100644
--- a/source/RobotAPI/libraries/aron/core/Config.h
+++ b/source/RobotAPI/libraries/aron/core/Config.h
@@ -84,11 +84,6 @@ namespace armarx
RUN_ARON_MACRO(Tuple, tuple, TUPLE) \
RUN_ARON_MACRO(Pair, pair, PAIR)
-/*#define HANDLE_CONTAINER_TYPES_EXCEPT_OBJECT \
- RUN_ARON_MACRO(List, list, LIST) \
- RUN_ARON_MACRO(Dict, dict, DICT) \
- RUN_ARON_MACRO(Tuple, tuple, TUPLE)*/
-
// All complex types go here
#define HANDLE_NDARRAY_TYPES \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX) \
@@ -122,21 +117,6 @@ namespace armarx
HANDLE_ENUM_TYPES \
HANDLE_PRIMITIVE_TYPES
-/************************************
- * Intermediate types, just for hierarchy
- * TODO: Remove
- ***********************************/
-/*#define HANDLE_CONTAINER_ARON_ABSTRACT_TYPES \
- RUN_ARON_MACRO(AronDictSerializerType, arondictserializertype, ARON_DICT_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(AronListSerializerType, aronlistserializertype, ARON_LIST_SERIALIZER_TYPE)
-
-#define HANDLE_COMPLEX_ARON_ABSTRACT_TYPES \
- RUN_ARON_MACRO(AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE)
-
-#define HANDLE_ALL_ARON_ABSTRACT_TYPES \
- HANDLE_CONTAINER_ARON_ABSTRACT_TYPES \
- HANDLE_COMPLEX_ARON_ABSTRACT_TYPES*/
-
/************************************
* DATA *****************************
***********************************/
@@ -185,6 +165,7 @@ namespace armarx
#define HANDLE_COMPLEX_CORRESPONDING \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
+ RUN_ARON_MACRO(EigenQuaternion, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(OpenCVMat, opencvmat, OPENCV_MAT, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(PCLPointCloud, pclpointcloud, PCL_POINTCLOUD, NDArray, ndarray, NDARRAY) \
@@ -210,34 +191,6 @@ namespace armarx
HANDLE_ENUM_CORRESPONDING \
HANDLE_PRIMITIVE_CORRESPONDING
-// TODO: Remove
-/*#define HANDLE_CONTAINER_ARON_TYPE_ARON_ABSTRACT_TYPE_CORRESPONDING \
- RUN_ARON_MACRO(List, list, LIST, AronListSerializerType, aronlistserializertype, ARON_LIST_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(Tuple, tuple, TUPLE, AronListSerializerType, aronlistserializertype, ARON_LIST_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(Object, object, OBJECT, AronDictSerializerType, arondictserializertype, ARON_DICT_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(Dict, dict, DICT, AronDictSerializerType, arondictserializertype, ARON_DICT_SERIALIZER_TYPE)
-
-#define HANDLE_COMPLEX_ARON_TYPE_ARON_ABSTRACT_TYPE_CORRESPONDING \
- RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX, AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE, AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(OpenCVMat, opencvmat, OPENCV_MAT, AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(PCLPointCloud, pclpointcloud, PCL_POINTCLOUD, AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE)
-
-#define HANDLE_ALL_ARON_TYPE_ARON_ABSTRACT_TYPE_CORRESPONDING \
- HANDLE_CONTAINER_ARON_TYPE_ARON_ABSTRACT_TYPE_CORRESPONDING \
- HANDLE_COMPLEX_ARON_TYPE_ARON_ABSTRACT_TYPE_CORRESPONDING
-
-#define HANDLE_CONTAINER_ARON_DATA_ARON_ABSTRACT_TYPE_CORRESPONDING \
- RUN_ARON_MACRO(List, list, LIST, AronListSerializerType, aronlistserializertype, ARON_LIST_SERIALIZER_TYPE) \
- RUN_ARON_MACRO(Dict, dict, DICT, AronDictSerializerType, arondictserializertype, ARON_DICT_SERIALIZER_TYPE)
-
-#define HANDLE_COMPLEX_ARON_DATA_ARON_ABSTRACT_TYPE_CORRESPONDING \
- RUN_ARON_MACRO(NDArray, ndarray, NDARRAY, AronNDArraySerializerType, aronndarrayserializertype, ARON_NDARRAY_SERIALIZER_TYPE)
-
-#define HANDLE_ALL_ARON_DATA_ARON_ABSTRACT_TYPE_CORRESPONDING \
- HANDLE_CONTAINER_ARON_DATA_ARON_ABSTRACT_TYPE_CORRESPONDING \
- HANDLE_COMPLEX_ARON_DATA_ARON_ABSTRACT_TYPE_CORRESPONDING*/
-
/************************************
* Related data types ***************
* (which on can be converted into what)
diff --git a/source/RobotAPI/libraries/aron/core/Randomizer.h b/source/RobotAPI/libraries/aron/core/Randomizer.h
index 65602d86714f720345f8f95346a29bfae6f17fef..aeefb6913607dde05b926bfc237262a490fa93a4 100644
--- a/source/RobotAPI/libraries/aron/core/Randomizer.h
+++ b/source/RobotAPI/libraries/aron/core/Randomizer.h
@@ -77,7 +77,7 @@ namespace armarx::aron
usedKeys.insert(key);
typenavigator::NavigatorPtr m = generateRandomType(false);
- t->addAcceptedType(key, m);
+ t->addMemberType(key, m);
}
return t;
}
@@ -109,24 +109,63 @@ namespace armarx::aron
t->setAcceptedType(a);
return t;
}
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case type::e##upperType:
-
- HANDLE_NDARRAY_TYPES
-#undef RUN_ARON_MACRO
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case type::e##upperType: \
-{ \
- typenavigator::upperType##NavigatorPtr t = typenavigator::upperType##NavigatorPtr(new typenavigator::upperType##Navigator()); \
- return t; \
-}
+ case type::ePair:
+ {
+ typenavigator::PairNavigatorPtr t = typenavigator::PairNavigatorPtr(new typenavigator::PairNavigator());
+ typenavigator::NavigatorPtr a = generateRandomType(false);
+ typenavigator::NavigatorPtr b = generateRandomType(false);
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ t->setFirstAcceptedType(a);
+ t->setSecondAcceptedType(b);
+ return t;
+ }
+ case type::eEigenMatrix:
+ case type::eEigenQuaternion:
+ case type::eIVTCByteImage:
+ case type::eOpenCVMat:
+ case type::ePCLPointCloud:
+ case type::ePosition:
+ case type::eOrientation:
+ case type::ePose:
+
+ case type::eInt:
+ {
+ auto t = std::make_shared<typenavigator::IntNavigator>();
+ return t;
+ }
+ case type::eLong:
+ {
+ auto t = std::make_shared<typenavigator::LongNavigator>();
+ return t;
+ }
+ case type::eFloat:
+ {
+ auto t = std::make_shared<typenavigator::FloatNavigator>();
+ return t;
+ }
+ case type::eDouble:
+ {
+ auto t = std::make_shared<typenavigator::DoubleNavigator>();
+ return t;
+ }
+ case type::eString:
+ {
+ auto t = std::make_shared<typenavigator::StringNavigator>();
+ return t;
+ }
+ case type::eBool:
+ {
+ auto t = std::make_shared<typenavigator::BoolNavigator>();
+ return t;
+ }
+ case type::eTime:
+ {
+ auto t = std::make_shared<typenavigator::TimeNavigator>();
+ return t;
+ }
default:
{
- throw error::DescriptorNotValidException("AronTest", "generateRandomType", "No valid type found!", nextType);
+ throw error::DescriptorNotValidException("Randomizer", "generateRandomType", "No valid type found!", nextType);
}
}
}
@@ -169,7 +208,8 @@ case type::e##upperType: \
case type::e##upperType: \
{ \
typenavigator::upperType##NavigatorPtr t = typenavigator::upperType##Navigator::DynamicCastAndCheck(type); \
- return datanavigator::NavigatorPtr(new datanavigator::NDArrayNavigator()); \
+ datanavigator::NDArrayNavigatorPtr ndarray = datanavigator::NDArrayNavigatorPtr(new datanavigator::NDArrayNavigator()); \
+ return ndarray; \
}
HANDLE_NDARRAY_TYPES
@@ -186,12 +226,81 @@ case type::e##upperType: \
#undef RUN_ARON_MACRO
default:
{
- throw error::DescriptorNotValidException("AronTest", "generateAronDataFromType", "No valid type found!", desc);
+ throw error::DescriptorNotValidException("Randomizer", "generateAronDataFromType", "No valid type found!", desc);
+ }
+ }
+ }
+
+ void initializeRandomly(datanavigator::NavigatorPtr& data, const typenavigator::NavigatorPtr& type) const
+ {
+ // Containers
+ type::Descriptor desc = type->getDescriptor();
+ switch (desc)
+ {
+
+#define RUN_ARON_MACRO(upperType, lowerType, capsType, upperData, lowerData, capsData) \
+case type::e##upperType: \
+{ \
+ typenavigator::upperType##NavigatorPtr t = typenavigator::upperType##Navigator::DynamicCastAndCheck(type); \
+ datanavigator::upperData##NavigatorPtr d = datanavigator::upperData##Navigator::DynamicCastAndCheck(data); \
+ initializeRandomly(d, t); \
+ break; \
+}
+
+ HANDLE_ALL_CORRESPONDING
+#undef RUN_ARON_MACRO
+
+ default:
+ {
+ throw error::DescriptorNotValidException("Randomizer", "initializeRandomly", "No valid type found!", desc);
}
}
}
+ int generateRandom(int max, int min) const
+ {
+ max += 1;
+ int random = (std::rand() % (max - min)) + min;
+ return random;
+ }
+
+ std::string generateRandomWord(const std::set<std::string>& usedKeys = {}) const
+ {
+ std::vector<string> words =
+ {
+ "Lorem", "ipsum", "dolor", "sit", "amet", "consetetur", "sadipscing", "elitr"
+ "sed", "diam", "nonumy", "eirmod", "tempor", "invidunt", "ut", "labore", "et"
+ "dolore", "magna", "aliquyam", "eratsed"
+ };
+
+ int i = generateRandom(words.size() - 1, 0);
+ std::string key = words[i];
+
+ while (usedKeys.count(key) > 0)
+ {
+ key = generateRandomWord(usedKeys);
+ }
+
+ return key;
+ }
+
+ std::vector<unsigned char> generateRandomBlob(unsigned int size) const
+ {
+ std::vector<unsigned char> new_blob(size, 0);
+ for (unsigned int i = 0; i < size; ++i)
+ {
+ new_blob[i] = (generateRandom(127, 0));
+ }
+ return new_blob;
+ }
+
+ private:
+ void initialize_random() const
+ {
+ std::srand(std::time(nullptr));
+ }
+ public:
void initializeRandomly(datanavigator::DictNavigatorPtr& data, const typenavigator::ObjectNavigatorPtr& type) const
{
for (auto& [key, nextData] : data->getElements())
@@ -224,6 +333,14 @@ case type::e##upperType: \
}
}
+ void initializeRandomly(datanavigator::ListNavigatorPtr& data, const typenavigator::PairNavigatorPtr& type) const
+ {
+ datanavigator::NavigatorPtr first = data->getElement(0);
+ datanavigator::NavigatorPtr second = data->getElement(1);
+ initializeRandomly(first, type->getFirstAcceptedType());
+ initializeRandomly(second, type->getSecondAcceptedType());
+ }
+
void initializeRandomly(datanavigator::ListNavigatorPtr& data, const typenavigator::ListNavigatorPtr& type) const
{
data->clear();
@@ -236,18 +353,13 @@ case type::e##upperType: \
}
}
-
-#define RUN_ARON_MACRO(upperData, lowerData, capsData) \
- void initializeRandomly(datanavigator::upperData##NavigatorPtr& data, const typenavigator::NavigatorPtr& type) const \
- { \
- std::vector<int> dims = data->getDimensions(); \
- int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()); \
- std::vector<unsigned char> blob = generateRandomBlob(bytes); \
- data->setData(bytes, blob.data()); \
- }
-
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ void initializeRandomly(datanavigator::NDArrayNavigatorPtr& data, const typenavigator::NavigatorPtr& type) const
+ {
+ std::vector<int> dims = data->getDimensions();
+ int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ std::vector<unsigned char> blob = generateRandomBlob(bytes);
+ data->setData(bytes, blob.data());
+ }
void initializeRandomly(datanavigator::IntNavigatorPtr& data, const typenavigator::NavigatorPtr& type) const
{
@@ -278,74 +390,5 @@ case type::e##upperType: \
{
data->setValue(generateRandomWord());
}
-
- void initializeRandomly(datanavigator::NavigatorPtr& data, const typenavigator::NavigatorPtr& type) const
- {
- // Containers
- type::Descriptor desc = type->getDescriptor();
- switch (desc)
- {
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType, upperData, lowerData, capsData) \
-case type::e##upperType: \
-{ \
- typenavigator::upperType##NavigatorPtr t = typenavigator::upperType##Navigator::DynamicCastAndCheck(type); \
- datanavigator::upperData##NavigatorPtr d = datanavigator::upperData##Navigator::DynamicCastAndCheck(data); \
- initializeRandomly(d, t); \
- break; \
-}
-
- HANDLE_ALL_CORRESPONDING
-#undef RUN_ARON_MACRO
-
- default:
- {
- throw error::DescriptorNotValidException("AronTest", "initializeRandomly", "No valid type found!", desc);
- }
- }
- }
-
- int generateRandom(int max, int min) const
- {
- max += 1;
- int random = (std::rand() % (max - min)) + min;
- return random;
- }
-
- std::string generateRandomWord(const std::set<std::string>& usedKeys = {}) const
- {
- std::vector<string> words =
- {
- "Lorem", "ipsum", "dolor", "sit", "amet", "consetetur", "sadipscing", "elitr"
- "sed", "diam", "nonumy", "eirmod", "tempor", "invidunt", "ut", "labore", "et"
- "dolore", "magna", "aliquyam", "eratsed"
- };
-
- int i = generateRandom(words.size() - 1, 0);
- std::string key = words[i];
-
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord(usedKeys);
- }
-
- return key;
- }
-
- std::vector<unsigned char> generateRandomBlob(unsigned int size) const
- {
- std::vector<unsigned char> new_blob(size, 0);
- for (unsigned int i = 0; i < size; ++i)
- {
- new_blob[i] = (generateRandom(127, 0));
- }
- return new_blob;
- }
-
- protected:
- void initialize_random() const
- {
- std::srand(std::time(nullptr));
- }
};
}
diff --git a/source/RobotAPI/libraries/aron/core/Resolver.cpp b/source/RobotAPI/libraries/aron/core/Resolver.cpp
index 2a6c5cc67e19e1176cbe783476efcfefa1f95dc3..5c3080eebbb6b053343adaf01a1f4a04f1a7c4e7 100644
--- a/source/RobotAPI/libraries/aron/core/Resolver.cpp
+++ b/source/RobotAPI/libraries/aron/core/Resolver.cpp
@@ -72,6 +72,15 @@ namespace armarx::aron
return false;
}
+ type::Descriptor Resolver::GetFirstIfCorrespond(const type::Descriptor& t, const data::Descriptor& d)
+ {
+ if (Correspond(t, d))
+ {
+ return t;
+ }
+ return GetCorresponding(d);
+ }
+
data::Descriptor Resolver::GetCorresponding(const type::Descriptor& d)
{
#define RUN_ARON_MACRO(typeUpperType, typeLowerType, typeCapsType, dataUpperType, dataLowerType, dataCapsType) \
@@ -86,6 +95,20 @@ namespace armarx::aron
return data::Descriptor::eUnknown;
}
+ type::Descriptor Resolver::GetCorresponding(const data::Descriptor& d)
+ {
+#define RUN_ARON_MACRO(typeUpperType, typeLowerType, typeCapsType, dataUpperType, dataLowerType, dataCapsType) \
+ { \
+ if(d == data::Descriptor::e##dataUpperType) \
+ { \
+ return type::Descriptor::e##typeUpperType; \
+ } \
+ }
+ HANDLE_ALL_CORRESPONDING
+#undef RUN_ARON_MACRO
+ return type::Descriptor::eUnknown;
+ }
+
bool Resolver::AreRelated(const data::Descriptor& d, const data::Descriptor& d2)
{
if (d == d2)
diff --git a/source/RobotAPI/libraries/aron/core/Resolver.h b/source/RobotAPI/libraries/aron/core/Resolver.h
index 1294be2f3d1a695b0893a8debee66ed51eaf8387..8c04597ef1fa5ab5866a1d56d0713ae53aa3e8fb 100644
--- a/source/RobotAPI/libraries/aron/core/Resolver.h
+++ b/source/RobotAPI/libraries/aron/core/Resolver.h
@@ -47,7 +47,10 @@ namespace armarx::aron
static bool Correspond(const type::Descriptor&, const data::Descriptor&);
+ static type::Descriptor GetFirstIfCorrespond(const type::Descriptor&, const data::Descriptor&);
+
static data::Descriptor GetCorresponding(const type::Descriptor&);
+ static type::Descriptor GetCorresponding(const data::Descriptor&);
static bool AreRelated(const data::Descriptor&, const data::Descriptor&);
static bool AreRelated(const type::Descriptor&, const type::Descriptor&);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h
new file mode 100644
index 0000000000000000000000000000000000000000..832c3e47d08766a565ddb4dc297239da472d1d9a
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h
@@ -0,0 +1,45 @@
+/*
+ * 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
+
+// STD/STL
+#include <memory>
+#include <string>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h>
+
+namespace armarx::aron::codegeneratorhelper
+{
+ class GenerateIntEnumInfo;
+ typedef std::shared_ptr<GenerateIntEnumInfo> GenerateIntEnumInfoPtr;
+
+ class GenerateIntEnumInfo
+ {
+ public:
+ std::string typeName;
+ std::string definedIn;
+ typenavigator::IntEnumNavigatorPtr correspondingType;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
index 5641e89c08c4663b7c884dcd4f2c779a33b94579..a029bca09d634f3565e89e7ef7d39eaee3af1201 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
@@ -28,19 +28,21 @@
#include <string>
// ArmarX
+#include <RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h>
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
namespace armarx::aron::codegeneratorhelper
{
- class GenerateTypeInfo;
- typedef std::shared_ptr<GenerateTypeInfo> GenerateTypeInfoPtr;
+ class GenerateObjectInfo;
+ typedef std::shared_ptr<GenerateObjectInfo> GenerateObjectInfoPtr;
- class GenerateTypeInfo
- {
- public:
- std::string typeName;
- std::string definedIn;
- typenavigator::ObjectNavigatorPtr correspondingObjectType;
- std::map<std::string, GenerateTypeInfoPtr> nestedObjects;
- };
+ class GenerateObjectInfo
+ {
+ public:
+ std::string typeName;
+ std::string definedIn;
+ typenavigator::ObjectNavigatorPtr correspondingType;
+ std::map<std::string, GenerateObjectInfoPtr> nestedObjects;
+ std::map<std::string, GenerateIntEnumInfoPtr> nestedIntEnums;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
index cca2b3bee5e5307c32f8793159277e4f413bd7af..f2f9b12c22c9a8bcf3ca88ddc4ba19f6f8168b14 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
@@ -52,7 +52,9 @@ namespace armarx::aron::codegenerator
producerName(producerName),
additionalIncludes(additionalIncludesFromXMLFile)
{}
- virtual void generateTypeClasses(const std::vector<codegeneratorhelper::GenerateTypeInfoPtr>&) = 0;
+
+ virtual void generateTypeObjects(const std::vector<codegeneratorhelper::GenerateObjectInfoPtr>&) = 0;
+ virtual void generateTypeIntEnums(const std::vector<codegeneratorhelper::GenerateIntEnumInfoPtr>&) = 0;
std::vector<MetaClassPtr> getTypeClasses() const
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
index b131739e41d822284fc40a51bd1a16f494428fe7..7098b08c6630be31bbb44c0fe098d09071e68b45 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -30,7 +30,6 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/Concepts.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/Reader.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/Writer.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
@@ -50,10 +49,10 @@ namespace armarx::aron::cppcodegenerator
AronCppClass() = default;
virtual void reset() = 0;
virtual void initialize() = 0;
- virtual void read(armarx::aron::dataIO::Reader& r) = 0;
- virtual void write(armarx::aron::dataIO::Writer& w) const = 0;
- virtual void writeCurrentType(armarx::aron::typeIO::Writer& w) const = 0;
- static void writeType(armarx::aron::typeIO::Writer& w)
+ virtual void read(armarx::aron::dataIO::ReaderInterface& r) = 0;
+ virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
+ virtual void writeCurrentType(armarx::aron::typeIO::WriterInterface& w) const = 0;
+ static void writeType(armarx::aron::typeIO::WriterInterface& w)
{
throw error::AronException("AronCppClass", "writeType", "You are not allowed to call this method directly. Each class must inheriting from AronCppClass must implement this static method!");
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
index 993ddef8346d4deaa262a1182ecef325077a3403..ca13c658ff5852538f08301b14f7eb50f9b6f10d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -47,7 +47,7 @@ namespace armarx::aron::cppcodegenerator
codegeneratorhelper::WriterInfoPtr toAron = codegeneratorhelper::WriterInfoPtr(new codegeneratorhelper::WriterInfo());
toAron->methodName = "toAron";
toAron->returnType = "armarx::aron::datanavigator::DictNavigatorPtr";
- toAron->writerClassType = "armarx::aron::io::NavigatorWriter";
+ toAron->writerClassType = "armarx::aron::dataIO::writer::NavigatorWriter";
toAron->include = "<RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h>";
dataWriters.push_back(toAron);
}
@@ -60,7 +60,7 @@ namespace armarx::aron::cppcodegenerator
codegeneratorhelper::ReaderInfoPtr fromAron = codegeneratorhelper::ReaderInfoPtr(new codegeneratorhelper::ReaderInfo());
fromAron->methodName = "fromAron";
fromAron->argumentType = "armarx::aron::datanavigator::DictNavigatorPtr";
- fromAron->readerClassType = "armarx::aron::io::NavigatorReader";
+ fromAron->readerClassType = "armarx::aron::dataIO::reader::NavigatorReader";
fromAron->include = "<RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h>";
dataReaders.push_back(fromAron);
}
@@ -68,7 +68,7 @@ namespace armarx::aron::cppcodegenerator
codegeneratorhelper::ReaderInfoPtr fromAron = codegeneratorhelper::ReaderInfoPtr(new codegeneratorhelper::ReaderInfo());
fromAron->methodName = "fromAron";
fromAron->argumentType = "armarx::aron::data::AronDictPtr";
- fromAron->readerClassType = "armarx::aron::io::NavigatorReader";
+ fromAron->readerClassType = "armarx::aron::dataIO::reader::NavigatorReader";
dataReaders.push_back(fromAron);
}
}
@@ -79,7 +79,7 @@ namespace armarx::aron::cppcodegenerator
codegeneratorhelper::WriterInfoPtr toAronType = codegeneratorhelper::WriterInfoPtr(new codegeneratorhelper::WriterInfo());
toAronType->methodName = "toInitialAronType";
toAronType->returnType = "armarx::aron::typenavigator::ObjectNavigatorPtr";
- toAronType->writerClassType = "armarx::aron::io::NavigatorWriter";
+ toAronType->writerClassType = "armarx::aron::typeIO::writer::NavigatorWriter";
toAronType->include = "<RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>";
initialTypeWriters.push_back(toAronType);
@@ -87,32 +87,38 @@ namespace armarx::aron::cppcodegenerator
codegeneratorhelper::WriterInfoPtr toAronType2 = codegeneratorhelper::WriterInfoPtr(new codegeneratorhelper::WriterInfo());
toAronType2->methodName = "toCurrentAronType";
toAronType2->returnType = "armarx::aron::typenavigator::ObjectNavigatorPtr";
- toAronType2->writerClassType = "armarx::aron::io::NavigatorWriter";
+ toAronType2->writerClassType = "armarx::aron::typeIO::writer::NavigatorWriter";
currentTypeWriters.push_back(toAronType2);
}
- void Writer::generateTypeClasses(const std::vector<codegeneratorhelper::GenerateTypeInfoPtr>& generateTypes)
+ void Writer::generateTypeObjects(const std::vector<codegeneratorhelper::GenerateObjectInfoPtr>& generateObjects)
{
- for (const auto& publicGenerateObjectType : generateTypes)
+ for (const auto& publicGenerateObjectType : generateObjects)
{
+ const auto& nav = publicGenerateObjectType->correspondingType;
+
+ //std::cout << "Generating: " << publicGenerateObjectType->correspondingObjectType->getName() << std::endl;
+
// Convert to Object type and create class object
- if (publicGenerateObjectType->correspondingObjectType == nullptr)
+ if (nav == nullptr)
{
throw error::AronException("ClassCppWriter", "generateTypeClasses", "An received public type is null. Abort due to error!");
}
- serializer::ObjectSerializerPtr objectSerializer = serializer::ObjectSerializerPtr(new serializer::ObjectSerializer(publicGenerateObjectType->correspondingObjectType));
+ auto serializer = std::make_shared<serializer::ObjectClassSerializer>(nav);
- CppClassPtr c = setupCppClassFromObjectType(publicGenerateObjectType->correspondingObjectType);
- if (publicGenerateObjectType->correspondingObjectType->getExtends() != nullptr)
+ CppClassPtr c = setupBasicCppClass(serializer->getCppTypename());
+ setupMemberFields(c, serializer);
+
+ if (nav->getExtends() != nullptr)
{
- serializer::ObjectSerializerPtr extendsSerializer = serializer::ObjectSerializerPtr(new serializer::ObjectSerializer(publicGenerateObjectType->correspondingObjectType->getExtends()));
+ auto extendsSerializer = std::make_shared<serializer::ObjectClassSerializer>(nav->getExtends());
c->addInherit(extendsSerializer->getCppTypename());
}
else
{
- c->addInherit("virtual public armarx::aron::codegeneration::AronCppClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/AronCppClass.h>");
+ c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>");
}
// Add includes and guard
@@ -133,31 +139,39 @@ namespace armarx::aron::cppcodegenerator
}
}
- generateInnerTypeClasses(c, publicGenerateObjectType->nestedObjects);
+ //std::cout << "Generate Type classes" << std::endl;
+ generateInnerTypeObjects(c, publicGenerateObjectType->nestedObjects);
// ctor
- c->addCtor(objectSerializer->toCtor(c->getName()));
+ c->addCtor(serializer->toCtor(c->getName()));
// Generic methods
- CppMethodPtr equals = objectSerializer->toEqualsMethod();
+ //std::cout << "Generate equals method" << std::endl;
+ CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
- CppMethodPtr reset = objectSerializer->toResetMethod();
+ //std::cout << "Generate reset method" << std::endl;
+ CppMethodPtr reset = serializer->toResetMethod();
c->addMethod(reset);
- CppMethodPtr setup = objectSerializer->toInitializeMethod();
+ //std::cout << "Generate init method" << std::endl;
+ CppMethodPtr setup = serializer->toInitializeMethod();
c->addMethod(setup);
- CppMethodPtr writeInitialType = objectSerializer->toWriteInitialTypeMethod();
+ //std::cout << "Generate writeInit method" << std::endl;
+ CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
c->addMethod(writeInitialType);
- CppMethodPtr writeCurrentType = objectSerializer->toWriteCurrentTypeMethod();
+ //std::cout << "Generate writeCurrent method" << std::endl;
+ CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
c->addMethod(writeCurrentType);
- CppMethodPtr write = objectSerializer->toWriteMethod();
+ //std::cout << "Generate write method" << std::endl;
+ CppMethodPtr write = serializer->toWriteMethod();
c->addMethod(write);
- CppMethodPtr read = objectSerializer->toReadMethod();
+ //std::cout << "Generate read method" << std::endl;
+ CppMethodPtr read = serializer->toReadMethod();
c->addMethod(read);
// Writermethods
@@ -167,7 +181,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedDataWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::datanavigator::DictNavigator::DynamicCast");
+ CppMethodPtr convert = serializer->toSpecializedDataWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::datanavigator::DictNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -178,7 +192,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedDataReaderMethod(info->argumentType, info->methodName, info->readerClassType);
+ CppMethodPtr convert = serializer->toSpecializedDataReaderMethod(info->argumentType, info->methodName, info->readerClassType);
c->addMethod(convert);
}
@@ -189,7 +203,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedInitialTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
+ CppMethodPtr convert = serializer->toSpecializedInitialTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -200,7 +214,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedCurrentTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
+ CppMethodPtr convert = serializer->toSpecializedCurrentTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -211,7 +225,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedCurrentTypeReaderMethod(info->argumentType, info->methodName, info->readerClassType);
+ CppMethodPtr convert = serializer->toSpecializedCurrentTypeReaderMethod(info->argumentType, info->methodName, info->readerClassType);
c->addMethod(convert);
}
@@ -219,55 +233,121 @@ namespace armarx::aron::cppcodegenerator
}
}
- void Writer::generateInnerTypeClasses(CppClassPtr& classToAdd, const std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr>& localGenerateTypes)
+ void Writer::generateTypeIntEnums(const std::vector<codegeneratorhelper::GenerateIntEnumInfoPtr>& generateIntEnums)
+ {
+ for (const auto& publicGenerateIntEnumType : generateIntEnums)
+ {
+ const auto& nav = publicGenerateIntEnumType->correspondingType;
+ if (nav == nullptr)
+ {
+ throw error::AronException("ClassCppWriter", "generateTypeIntEnums", "An received public type is null. Abort due to error!");
+ }
+
+ auto serializer = std::make_shared<serializer::IntEnumClassSerializer>(nav);
+
+ CppClassPtr c = setupBasicCppClass(serializer->getCppTypename());
+ setupMemberFields(c, serializer);
+
+ // Add includes and guard
+ c->addClassDoc("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ "!!!!!!AUTOGENERATED CLASS. Please do NOT edit. Instead, edit the corresponding .xml file!!!!!!\n"
+ "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
+ c->setPragmaOnceIncludeGuard(true);
+ c->addInclude("<memory>");
+ c->addInclude("<string>");
+ c->addInclude("<vector>");
+ c->addInclude("<map>");
+ c->addInclude("<RobotAPI/interface/aron.h>");
+
+ c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>");
+
+ // ctor
+ c->addCtor(serializer->toCtor(c->getName()));
+
+ // Generic methods
+ //std::cout << "Generate equals method" << std::endl;
+ CppMethodPtr equals = serializer->toEqualsMethod();
+ c->addMethod(equals);
+
+ //std::cout << "Generate reset method" << std::endl;
+ CppMethodPtr reset = serializer->toResetMethod();
+ c->addMethod(reset);
+
+ //std::cout << "Generate init method" << std::endl;
+ CppMethodPtr setup = serializer->toInitializeMethod();
+ c->addMethod(setup);
+
+ //std::cout << "Generate writeInit method" << std::endl;
+ CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
+ c->addMethod(writeInitialType);
+
+ //std::cout << "Generate writeCurrent method" << std::endl;
+ CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
+ c->addMethod(writeCurrentType);
+
+ //std::cout << "Generate write method" << std::endl;
+ CppMethodPtr write = serializer->toWriteMethod();
+ c->addMethod(write);
+
+ //std::cout << "Generate read method" << std::endl;
+ CppMethodPtr read = serializer->toReadMethod();
+ c->addMethod(read);
+
+ typeClasses.push_back(c);
+ }
+ }
+
+ void Writer::generateInnerTypeObjects(CppClassPtr& classToAdd, const std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr>& localGenerateTypes)
{
// setup inner classes
for (const auto& [_, localGenerateObjectType] : localGenerateTypes)
{
- serializer::ObjectSerializerPtr objectSerializer = serializer::ObjectSerializerPtr(new serializer::ObjectSerializer(localGenerateObjectType->correspondingObjectType));
+ const auto& nav = localGenerateObjectType->correspondingType;
+
+ auto serializer = std::make_shared<serializer::ObjectClassSerializer>(nav);
- CppClassPtr c = setupCppClassFromObjectType(localGenerateObjectType->correspondingObjectType);
- if (localGenerateObjectType->correspondingObjectType->getExtends() != nullptr)
+ CppClassPtr c = setupBasicCppClass(serializer->getCppTypename());
+ setupMemberFields(c, serializer);
+
+ if (nav->getExtends() != nullptr)
{
- serializer::ObjectSerializerPtr extendsSerializer = serializer::ObjectSerializerPtr(new serializer::ObjectSerializer(localGenerateObjectType->correspondingObjectType->getExtends()));
+ auto extendsSerializer = std::make_shared<serializer::ObjectClassSerializer>(nav->getExtends());
c->addInherit(extendsSerializer->getCppTypename());
}
else
{
- c->addInherit("virtual public armarx::aron::codegeneration::AronCppClass");
+ c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
}
- CppMethodPtr equals = objectSerializer->toEqualsMethod();
+ CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
- CppMethodPtr reset = objectSerializer->toResetMethod();
+ CppMethodPtr reset = serializer->toResetMethod();
c->addMethod(reset);
- CppMethodPtr setup = objectSerializer->toInitializeMethod();
+ CppMethodPtr setup = serializer->toInitializeMethod();
c->addMethod(setup);
- CppMethodPtr writeInitialType = objectSerializer->toWriteInitialTypeMethod();
+ CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
c->addMethod(writeInitialType);
- CppMethodPtr writeCurrentType = objectSerializer->toWriteCurrentTypeMethod();
+ CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
c->addMethod(writeCurrentType);
- CppMethodPtr write = objectSerializer->toWriteMethod();
+ CppMethodPtr write = serializer->toWriteMethod();
c->addMethod(write);
- CppMethodPtr read = objectSerializer->toReadMethod();
+ CppMethodPtr read = serializer->toReadMethod();
c->addMethod(read);
- generateInnerTypeClasses(c, localGenerateObjectType->nestedObjects);
+ generateInnerTypeObjects(c, localGenerateObjectType->nestedObjects);
classToAdd->addInnerClass(c);
}
}
- CppClassPtr Writer::setupCppClassFromObjectType(const typenavigator::ObjectNavigatorPtr& o) const
+ CppClassPtr Writer::setupBasicCppClass(const std::string& cppTypename) const
{
- serializer::ObjectSerializerPtr objectSerializer = serializer::ObjectSerializerPtr(new serializer::ObjectSerializer(o));
-
- std::string cppTypename = objectSerializer->getCppTypename();
std::vector<std::string> split = simox::alg::split(cppTypename, "::");
if (split.size() < 1)
{
@@ -277,14 +357,26 @@ namespace armarx::aron::cppcodegenerator
std::vector<std::string> namespaces(split);
namespaces.pop_back();
- CppClassPtr c = CppClassPtr(new CppClass(namespaces, split[split.size() - 1]));
+ CppClassPtr c = std::make_shared<CppClass>(namespaces, split[split.size() - 1]);
+ return c;
+ }
- for (const auto& [key, child] : o->getMemberTypes())
+ void Writer::setupMemberFields(CppClassPtr& c, const serializer::ObjectClassSerializerPtr& o) const
+ {
+ auto publicFields = o->getPublicVariableDeclarations("");
+ for (const auto& f : publicFields)
{
- SerializerPtr child_s = Serializer::FromAronTypeNaviagtorPtr(child);
- c->addPublicField(child_s->getCppTypename() + " " + key + ";");
+ c->addPublicField(f);
+ }
+ }
+
+ void Writer::setupMemberFields(CppClassPtr& c, const serializer::IntEnumClassSerializerPtr& o) const
+ {
+ auto publicFields = o->getPublicVariableDeclarations("");
+ for (const auto& f : publicFields)
+ {
+ c->addPublicField(f);
}
- return c;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
index c7cf9ae5ae8722211cd148dd73477f81cf1e926c..91dd59689dfb678b45ac6b5190ea1b8a04f05cd4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
@@ -37,7 +37,8 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
-#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h>
namespace armarx::aron::cppcodegenerator
{
@@ -51,7 +52,8 @@ namespace armarx::aron::cppcodegenerator
Writer() = delete;
Writer(const std::string&, const std::vector<std::string>&);
- virtual void generateTypeClasses(const std::vector<codegeneratorhelper::GenerateTypeInfoPtr>&) override;
+ virtual void generateTypeObjects(const std::vector<codegeneratorhelper::GenerateObjectInfoPtr>&) override;
+ virtual void generateTypeIntEnums(const std::vector<codegeneratorhelper::GenerateIntEnumInfoPtr>&) override;
protected:
virtual void addToAronMethod() override;
@@ -59,8 +61,11 @@ namespace armarx::aron::cppcodegenerator
virtual void addToAronTypeMethod() override;
private:
- void generateInnerTypeClasses(CppClassPtr& classToAdd, const std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr>& localGenerateTypes);
- CppClassPtr setupCppClassFromObjectType(const typenavigator::ObjectNavigatorPtr&) const;
+ void generateInnerTypeObjects(CppClassPtr& classToAdd, const std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr>& localGenerateTypes);
+
+ CppClassPtr setupBasicCppClass(const std::string&) const;
+ void setupMemberFields(CppClassPtr&, const serializer::ObjectClassSerializerPtr&) const;
+ void setupMemberFields(CppClassPtr&, const serializer::IntEnumClassSerializerPtr&) const;
private:
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index 9bdd22e61b9dd6bd6e486d8b990db205e9e44db9..0e01b411419d76eb6b3556ef31d664d75356fc4e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -193,7 +193,7 @@ namespace armarx::aron::cppcodegenerator
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeInitialType(armarx::aron::io::AronTypeWriter& w)", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeInitialType(armarx::aron::typeIO::WriterInterface& w)", doc.str()));
CppBlockPtr b = this->getWriteInitialTypeBlock("");
m->setBlock(b);
return m;
@@ -205,8 +205,8 @@ namespace armarx::aron::cppcodegenerator
doc << "@brief writeType() - This method returns a new type from the current class structure using a type writer implementation. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("void writeCurrentType(armarx::aron::io::AronTypeWriter& w) const override", doc.str()));
- CppBlockPtr b = this->getWriteInitialTypeBlock("");
+ CppMethodPtr m = CppMethodPtr(new CppMethod("void writeCurrentType(armarx::aron::typeIO::WriterInterface& w) const override", doc.str()));
+ CppBlockPtr b = this->getWriteCurrentTypeBlock("");
m->setBlock(b);
return m;
}
@@ -218,7 +218,7 @@ namespace armarx::aron::cppcodegenerator
doc << "@param w - The writer implementation\n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void write(armarx::aron::io::AronDataWriter& w) const override", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void write(armarx::aron::dataIO::WriterInterface& w) const override", doc.str()));
CppBlockPtr b = this->getWriteBlock("");
m->setBlock(b);
return m;
@@ -231,7 +231,7 @@ namespace armarx::aron::cppcodegenerator
doc << "@param r - The reader implementation\n";
doc << "@return - nothing";
- CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::io::AronDataReader& r) override", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r) override", doc.str()));
CppBlockPtr b = this->getReadBlock("");
m->setBlock(b);
return m;
@@ -270,7 +270,7 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr m = CppMethodPtr(new CppMethod("static " + returnname + " " + methodname + "()", doc.str()));
m->addLine(writerName + " writer;");
- m->addLine(getCppTypename() + "::writeInitialType(writer);");
+ m->addLine("writeInitialType(writer);");
m->addLine("return " + enforceConversion + "(writer.getResult());");
return m;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
index 0d893214185ad431326242e1cd7f383f18448ecd..7b777b8201d2ddfa302135a1b7795afd134a8c9d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
@@ -34,15 +34,30 @@ namespace armarx::aron::cppcodegenerator
// Access method
SerializerPtr SerializerFactory::create(const typenavigator::NavigatorPtr& n, const Path& path) const
{
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- {type::Descriptor::e##upperType, SerializerFactoryPtr(new upperType##SerializerFactory())},
-
static const std::map<type::Descriptor, SerializerFactoryPtr> Factories =
{
- HANDLE_ALL_ARON_TYPES
+ {type::eObject, SerializerFactoryPtr(new ObjectSerializerFactory())},
+ {type::eDict, SerializerFactoryPtr(new DictSerializerFactory())},
+ {type::eList, SerializerFactoryPtr(new ListSerializerFactory())},
+ {type::eTuple, SerializerFactoryPtr(new TupleSerializerFactory())},
+ {type::ePair, SerializerFactoryPtr(new PairSerializerFactory())},
+ {type::eEigenMatrix, SerializerFactoryPtr(new EigenMatrixSerializerFactory())},
+ {type::eEigenQuaternion, SerializerFactoryPtr(new EigenQuaternionSerializerFactory())},
+ {type::eIVTCByteImage, SerializerFactoryPtr(new IVTCByteImageSerializerFactory())},
+ {type::eOpenCVMat, SerializerFactoryPtr(new OpenCVMatSerializerFactory())},
+ {type::ePCLPointCloud, SerializerFactoryPtr(new PCLPointCloudSerializerFactory())},
+ {type::ePosition, SerializerFactoryPtr(new PositionSerializerFactory())},
+ {type::eOrientation, SerializerFactoryPtr(new OrientationSerializerFactory())},
+ {type::ePose, SerializerFactoryPtr(new PoseSerializerFactory())},
+ {type::eIntEnum, SerializerFactoryPtr(new IntEnumSerializerFactory())},
+ {type::eInt, SerializerFactoryPtr(new IntSerializerFactory())},
+ {type::eLong, SerializerFactoryPtr(new LongSerializerFactory())},
+ {type::eFloat, SerializerFactoryPtr(new FloatSerializerFactory())},
+ {type::eDouble, SerializerFactoryPtr(new DoubleSerializerFactory())},
+ {type::eString, SerializerFactoryPtr(new StringSerializerFactory())},
+ {type::eBool, SerializerFactoryPtr(new BoolSerializerFactory())},
+ {type::eTime, SerializerFactoryPtr(new TimeSerializerFactory())}
};
-#undef RUN_ARON_MACRO
//CheckIfPtrIsNull("NavigatorFactory", "create", path, n);
auto res = n->getResult();
@@ -59,7 +74,7 @@ namespace armarx::aron::cppcodegenerator
throw error::AronException("NavigatorFactory", "createSpecific", "Called disallowed method. Use child class instead!");
}
- // Container Factories
+ // Factories
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
SerializerPtr upperType##SerializerFactory::createSpecific(const typenavigator::NavigatorPtr& n, const Path& path) const \
{ \
@@ -69,6 +84,6 @@ namespace armarx::aron::cppcodegenerator
return SerializerPtr(new serializer::upperType##Serializer(casted)); \
}
- HANDLE_ALL_ARON_TYPES
+ HANDLE_ALL_ARON_TYPES
#undef RUN_ARON_MACRO
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index 91a45cd845d04e8bd26b96a1d9ced54b89ba7ed6..306553442f3ed1274c1de4b4a03d7fd601a22b91 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -70,7 +70,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr DictSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDictType();");
+ b->addLine("w.writeStartDict();");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -78,14 +78,14 @@ namespace armarx::aron::cppcodegenerator::serializer
auto type_s = FromAronTypeNaviagtorPtr(navigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getCppTypename());
b->appendBlock(b2);
- b->addLine("w.writeEndDictType();");
+ b->addLine("w.writeEndDict();");
return b;
}
CppBlockPtr DictSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDictType();");
+ b->addLine("w.writeStartDict();");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -93,7 +93,7 @@ namespace armarx::aron::cppcodegenerator::serializer
auto type_s = FromAronTypeNaviagtorPtr(navigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteCurrentTypeBlock(type_s->getCppTypename());
b->appendBlock(b2);
- b->addLine("w.writeEndDictType();");
+ b->addLine("w.writeEndDict();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index 779ffd6183c7ef1e6b78bd746b31d2397dd8bd29..1961536dc1d6a1316736891b4599c0e2ba6b74e9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -68,26 +68,26 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr ListSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartListType();");
+ b->addLine("w.writeStartList();");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getCppTypename());
b->appendBlock(b2);
- b->addLine("w.writeEndListType();");
+ b->addLine("w.writeEndList();");
return b;
}
CppBlockPtr ListSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartListType();");
+ b->addLine("w.writeStartList();");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- CppBlockPtr b2 = type_s->getWriteCurrentTypeBlock(type_s->getCppTypename());
+ CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getCppTypename()); // TODO: think about having a better solution not ignoting the current type
b->appendBlock(b2);
- b->addLine("w.writeEndListType();");
+ b->addLine("w.writeEndList();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 29345b3391cec2d6695d7946ecb40eadc765bb37..c57be2c1f80dbe0ff2b8f323d14ba12c4026fb8d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -26,239 +26,80 @@
namespace armarx::aron::cppcodegenerator::serializer
- {
- // constructors
- ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
- navigator(e)
- {
- //AddObjectTypeToAllObjectTypesList(ObjectNavigatorPtr(this));
- }
-
- std::vector<CppFieldPtr> ObjectSerializer::getPublicVariableDeclarations(const std::string& name) const
- {
- if (name == "") // object defintiion
- {
- std::vector<CppFieldPtr> fields;
- for (const auto& [key, member] : navigator->getMemberTypes())
- {
- auto member_s = FromAronTypeNaviagtorPtr(member);
- std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
- fields.insert(fields.end(), member_fields.begin(), member_fields.end());
- }
- return fields;
- }
- else // object usage
- {
- CppFieldPtr field = CppFieldPtr(new CppField(getCppTypename(), name));
- return {field};
- };
- }
-
- std::vector<std::pair<std::string, std::string>> ObjectSerializer::getCtorInitializers(const std::string&) const
- {
- return {};
- }
-
- CppBlockPtr ObjectSerializer::getCtorBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getResetBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getCppTypename() + "::reset();");
- }
-
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr b2 = child_s->getResetBlock((accessor != "" ? (accessor + "." + key) : key));
- b->appendBlock(b2);
- }
- }
- else
- {
- b->addLine(accessor + ".reset();");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getInitializeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getCppTypename() + "::initialize();");
- }
-
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr b2 = child_s->getInitializeBlock((accessor != "" ? (accessor + "." + key) : key));
- b->appendBlock(b2);
- }
- }
- else
- {
- b->addLine(accessor + ".initialize();");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getCppTypename() + "::writeInitialType(w);");
- }
-
- b->addLine("w.writeStartObjectType();");
- b->addLine("w.writeObjectName(\"" + navigator->getObjectName() + "\");");
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteInitialTypeBlock(child_s->getCppTypename());
- b->appendBlock(b2);
- }
- b->addLine("w.writeEndObjectType();");
- }
- else
- {
- b->addLine(accessor + "::writeInitialType(w);");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- //b->addLine(extends_s->getCppTypename() + ".writeCurrentType(w);"); TODO
- }
-
- b->addLine("w.writeStartObjectType();");
- b->addLine("w.writeObjectName(\"" + navigator->getObjectName() + "\");");
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteCurrentTypeBlock(child_s->getCppTypename());
- b->appendBlock(b2);
- }
- b->addLine("w.writeEndObjectType();");
- }
- else
- {
- b->addLine(accessor + ".writeCurrentType(w);");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getWriteBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getCppTypename() + "::write(w, aron_type);");
- }
-
- b->addLine("w.writeStartDict();");
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteBlock((accessor != "" ? (accessor + "." + key) : key));
- b->appendBlock(b2);
- }
- b->addLine("w.writeEndDict();");
- }
- else
- {
- b->addLine(accessor + ".write(w);");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- if (accessor == "")
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getCppTypename() + "::read(r);");
- }
-
- b->addLine("r.readStartDict();");
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("r.readKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getReadBlock((accessor != "" ? (accessor + "." + key) : key));
- b->appendBlock(b2);
- }
- b->addLine("r.readEndDict();");
- }
- else
- {
- b->addLine(accessor + ".read(r);");
- }
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (accessor == "") // object definition, so we are no member of some other class
- {
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine("if (not (" + extends_s->getCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
- }
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
- b->appendBlock(b2);
- }
- }
- else // object usage with existing operator==
- {
- b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- b->addLine("\t return false;");
- }
- return b;
- }
+{
+ // constructors
+ ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
+ Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
+ navigator(e)
+ {
+ //AddObjectTypeToAllObjectTypesList(ObjectNavigatorPtr(this));
+ }
+
+ std::vector<CppFieldPtr> ObjectSerializer::getPublicVariableDeclarations(const std::string& name) const
+ {
+ CppFieldPtr field = CppFieldPtr(new CppField(getCppTypename(), name));
+ return {field};
+ }
+
+ std::vector<std::pair<std::string, std::string>> ObjectSerializer::getCtorInitializers(const std::string&) const
+ {
+ return {};
+ }
+
+ CppBlockPtr ObjectSerializer::getCtorBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getResetBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + ".reset();");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getInitializeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + ".initialize();");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + "::writeInitialType(w);");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + ".writeCurrentType(w);");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getWriteBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + ".write(w);");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + ".read(r);");
+ return b;
+ }
+
+ CppBlockPtr ObjectSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index a8bcb99db043034e1a324bf33872bdd9eebce834..401ee4a09bf41a33fe47f8ec8f972f9900f6b4d6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -69,7 +69,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PairSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPairType();");
+ b->addLine("w.writeStartPair();");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -85,14 +85,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b22 = child_s2->getWriteInitialTypeBlock(accessor_iterator2);
b->appendBlock(b22);
- b->addLine("w.writeEndPairType();");
+ b->addLine("w.writeEndPair();");
return b;
}
CppBlockPtr PairSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPairType();");
+ b->addLine("w.writeStartPair();");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -108,7 +108,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b22 = child_s2->getWriteCurrentTypeBlock(accessor_iterator2);
b->appendBlock(b22);
- b->addLine("w.writeEndPairType();");
+ b->addLine("w.writeEndPair();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index 300a1474322db30f5417e2ed19a778ea1d815ed6..5e6f97e448280dccc0e13f91bc24d75020b26e3c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -68,7 +68,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr TupleSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTupleType();");
+ b->addLine("w.writeStartTuple();");
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -80,14 +80,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(accessor_iterator);
b->appendBlock(b2);
}
- b->addLine("w.writeEndTupleType();");
+ b->addLine("w.writeEndTuple();");
return b;
}
CppBlockPtr TupleSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTupleType();");
+ b->addLine("w.writeStartTuple();");
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -99,7 +99,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr b2 = type_s->getWriteCurrentTypeBlock(accessor_iterator);
b->appendBlock(b2);
}
- b->addLine("w.writeEndTupleType();");
+ b->addLine("w.writeEndTuple();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index 30a7df9a7ee7a0644d2b33b0254ad23ceadf54e6..c2d7e59189c1caa4acf839cf1c67afc5f2f0d14b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -29,7 +29,7 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
Serializer(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum))),
- typenavigator(n)
+ navigator(n)
{
}
@@ -53,50 +53,49 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IntEnumSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "enum());");
+ b->addLine(accessor + ".reset();");
return b;
}
- CppBlockPtr IntEnumSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr IntEnumSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIntEnumType();");
+ b->addLine(accessor + "::writeInitialType(w);");
return b;
}
CppBlockPtr IntEnumSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIntEnumType();");
+ b->addLine(accessor + ".writeCurrentType(w);");
return b;
}
CppBlockPtr IntEnumSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "();");
+ b->addLine(accessor + ".initialize();");
return b;
}
CppBlockPtr IntEnumSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray();");
+ b->addLine(accessor + ".write(w);");
return b;
}
CppBlockPtr IntEnumSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("r.readStartNDArray(); // We do not need the dims and type since a EigenMat can not change (templated)");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine(accessor + ".read(r);");
return b;
}
CppBlockPtr IntEnumSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + "->isApprox(*" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
index ba53bb47e8b7a406eab9d2ad738c48df0b3c62ab..abb82b441cb59b139ec531110523a7844216273d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
@@ -65,6 +65,6 @@ namespace armarx::aron::cppcodegenerator::serializer
// Members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
- typenavigator::IntEnumNavigatorPtr typenavigator;
+ typenavigator::IntEnumNavigatorPtr navigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index 2e6dfec9ebca6bb178f05f36a9b8000f35aad38d..31fc0342b768c72a5f0daed022ef167c0e3ee170 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -40,7 +40,7 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
EigenMatrixSerializer::EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr& n) :
- Serializer("std::shared_ptr<::Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenMatrix))),
+ Serializer("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenMatrix))),
typenavigator(n)
{
}
@@ -65,35 +65,35 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenMatrixSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new ::Eigen::Matrix<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ", " + std::to_string(typenavigator->getRows()) + ", " + std::to_string(typenavigator->getCols()) + ">());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrixType({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenMatrix({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrixType({" + accessor + "->rows(), " + accessor + "->cols()}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenMatrix({" + accessor + ".rows(), " + accessor + ".cols()}, \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr EigenMatrixSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new ::Eigen::Matrix<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ", " + std::to_string(typenavigator->getRows()) + ", " + std::to_string(typenavigator->getCols()) + ">());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + "->rows(), " + accessor + "->cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("w.writeNDArray({" + accessor + ".rows(), " + accessor + ".cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
return b;
}
@@ -101,14 +101,14 @@ namespace armarx::aron::cppcodegenerator::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("r.readStartNDArray(); // We do not need the dims and type since a EigenMat can not change (templated)");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
return b;
}
CppBlockPtr EigenMatrixSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + "->isApprox(*" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index 28ef264c4f39185e8dfeb3d701312aa36631b6f4..2d0d53e17fc5ab195efce9c424c118e67e5935e0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -35,7 +35,7 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
EigenQuaternionSerializer::EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr& n) :
- Serializer("std::shared_ptr<::Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenQuaternion))),
+ Serializer("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronEigenQuaternion))),
typenavigator(n)
{
}
@@ -60,35 +60,35 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenQuaternionSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new ::Eigen::Quaternion<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ">());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternionType({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenQuaternion(\"" + typenavigator->getTypename() + "\");");
return b;
}
- CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
+ CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternionType({" + accessor + "->rows(), " + accessor + "->cols()}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeEigenQuaternion(\"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new ::Eigen::Quaternion<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ">());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + "->rows(), " + accessor + "->cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".coeffs().data()));");
return b;
}
@@ -96,14 +96,14 @@ namespace armarx::aron::cppcodegenerator::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("r.readStartNDArray(); // We do not need the dims and type since a EigenMat can not change (templated)");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".coeffs().data()));");
return b;
}
CppBlockPtr EigenQuaternionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + "->isApprox(*" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index 30de9f5f8a96d0297ad7757411cfa66790b1f87d..920cd941a2622fa92df5873e4823d35bc16ea2c7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -36,7 +36,7 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
IVTCByteImageSerializer::IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr& e) :
- Serializer("std::shared_ptr<CByteImage>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIVTCByteImage))),
+ Serializer("CByteImage", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIVTCByteImage))),
typenavigator(e)
{
// check if type exists
@@ -63,53 +63,57 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IVTCByteImageSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new CByteImage(" + accessor + "->width, " + accessor + "->height, " + accessor + "->type));");
+ b->addLine(accessor + ".Set(" + accessor + ".width, " + accessor + ".height, " + accessor + ".type);");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new CByteImage(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + "));");
+ b->addLine(accessor + ".Set(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ");");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImageType({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeIVTCByteImage(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImageType({" + accessor + "->width, " + accessor + "->height} \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeIVTCByteImage(" + accessor + ".width, " + accessor + ".height, \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + "->width, " + accessor + "->height, " + accessor + "->bytesPerPixel}, std::to_string(" + accessor + "->type), reinterpret_cast<unsigned char*>(" + accessor + "->pixels));");
+ b->addLine("w.writeNDArray({" + accessor + ".width, " + accessor + ".height, " + accessor + ".bytesPerPixel}, std::to_string(" + accessor + ".type), reinterpret_cast<const unsigned char*>(" + accessor + ".pixels));");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, type] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new CByteImage(dims[0], dims[1], static_cast<CByteImage::ImageType>(std::stoi(type))));");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->pixels));");
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string dims_accessor = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string type_accessor = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + dims_accessor + ", " + type_accessor + "] = r.readStartNDArray();");
+ b->addLine(accessor + ".Set(" + dims_accessor + "[0], " + dims_accessor + "[1], static_cast<CByteImage::ImageType>(std::stoi(" + type_accessor + ")));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".pixels));");
return b;
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + "->IsCompatible(" + otherInstanceAccessor + ".get())))");
+ b->addLine("if (not (" + accessor + ".IsCompatible(&" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
- b->addLine("if (not (memcmp(" + accessor + "->pixels, " + otherInstanceAccessor + "->pixels, " + accessor + "->width * " + accessor + "->height * " + accessor + "->bytesPerPixel) == 0))");
+ b->addLine("if (not (memcmp(" + accessor + ".pixels, " + otherInstanceAccessor + ".pixels, " + accessor + ".width * " + accessor + ".height * " + accessor + ".bytesPerPixel) == 0))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index d7b0869afde055183cd512bb1aad794af922b973..ac91df514b87f3377f5f9738a613cd1dc6c29ca6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -64,6 +64,8 @@ namespace armarx::aron::cppcodegenerator::serializer
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::IVTCByteImageNavigatorPtr typenavigator;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index 0bcebaec3f58acb3b4bd13c5f4cb735ce4bd2cb6..fed76275099b5969bf3993cbd10d57973065e103 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -25,130 +25,133 @@
#include "OpenCVMat.h"
namespace armarx::aron::cppcodegenerator::serializer
- {
-
- const std::map<std::string, std::pair<std::string, int>> OpenCVMatSerializer::ACCEPTED_TYPES =
- {
- {"CV_8U", {"CV_8U", 1}},
- {"CV_8S", {"CV_8S", 1}},
- {"CV_16U", {"CV_16U", 2}},
- {"CV_16S", {"CV_16S", 2}},
- {"CV_32S", {"CV_32S", 4}},
- {"CV_32F", {"CV_32F", 4}},
- {"CV_64F", {"CV_64F", 8}},
- };
-
- const std::string OpenCVMatSerializer::OPENCVMAT_ITERATOR_ACCESSOR = "_iterator";
- const std::string OpenCVMatSerializer::OPENCVMAT_DIMENSIONS_ACCESSOR = "_dimensions";
- const std::string OpenCVMatSerializer::OPENCVMAT_DIFF_ACCESSOR = "_dimensions";
-
- // constructors
- OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& e) :
- Serializer("std::shared_ptr<cv::Mat>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOpenCVMat))),
- typenavigator(e)
- {
- // check if type exists
- ACCEPTED_TYPES.at(e->getTypename());
- }
-
- std::vector<CppFieldPtr> OpenCVMatSerializer::getPublicVariableDeclarations(const std::string& name) const
- {
- CppFieldPtr field = CppFieldPtr(new CppField(getCppTypename(), name));
- return {field};
- }
-
- std::vector<std::pair<std::string, std::string>> OpenCVMatSerializer::getCtorInitializers(const std::string&) const
- {
- return {};
- }
-
- CppBlockPtr OpenCVMatSerializer::getCtorBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getResetBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + OPENCVMAT_DIMENSIONS_ACCESSOR;
- std::string accessor_iterator = escaped_accessor + OPENCVMAT_ITERATOR_ACCESSOR;
-
- b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + "->dims; ++" + accessor_iterator + ")");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + "->size[" + accessor_iterator + "]);");
- b->appendBlock(b2);
- b->addLine(accessor + " = " + getCppTypename() + "(new cv::Mat(" + accessor_dimensions + ", " + accessor + "->type()));");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getInitializeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new cv::Mat(std::vector<int>({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}), " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + "));");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOpenCVMatType({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + OPENCVMAT_DIMENSIONS_ACCESSOR;
- std::string accessor_iterator = escaped_accessor + OPENCVMAT_ITERATOR_ACCESSOR;
-
- b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + "->dims; ++" + accessor_iterator + ")");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + "->size[" + accessor_iterator + "]);");
- b->appendBlock(b2);
- b->addLine("w.writeOpenCVMatType(" + accessor_dimensions + ", std::to_string(" + accessor + "->type()));");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getWriteBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + OPENCVMAT_DIMENSIONS_ACCESSOR;
- std::string accessor_iterator = escaped_accessor + OPENCVMAT_ITERATOR_ACCESSOR;
-
- b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + "->dims; ++" + accessor_iterator + ")");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + "->size[" + accessor_iterator + "]);");
- b->appendBlock(b2);
- b->addLine(accessor_dimensions + ".push_back(" + accessor + "->elemSize());");
- b->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + "->type()), reinterpret_cast<unsigned char*>(" + accessor + "->data));");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getReadBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, type] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new cv::Mat(std::vector<int>({dims.begin(), std::prev(dims.end())}), std::stoi(type)));");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data));");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (cv::countNonZero(*" + accessor + " != *" + otherInstanceAccessor + ") != 0)");
- b->addLine("\t return false;");
- return b;
- }
+{
+
+ const std::map<std::string, std::pair<std::string, int>> OpenCVMatSerializer::ACCEPTED_TYPES =
+ {
+ {"CV_8U", {"CV_8U", 1}},
+ {"CV_8S", {"CV_8S", 1}},
+ {"CV_16U", {"CV_16U", 2}},
+ {"CV_16S", {"CV_16S", 2}},
+ {"CV_32S", {"CV_32S", 4}},
+ {"CV_32F", {"CV_32F", 4}},
+ {"CV_64F", {"CV_64F", 8}},
+ };
+
+ // constructors
+ OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& e) :
+ Serializer("cv::Mat", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOpenCVMat))),
+ typenavigator(e)
+ {
+ // check if type exists
+ if (ACCEPTED_TYPES.find(e->getTypename()) == ACCEPTED_TYPES.end())
+ {
+ throw error::StringNotValidException("OpenCVMatSerializer", "OpenCVMatSerializer", "Could not find a matching typename.", e->getTypename(), e->getPath());
+ }
+ }
+
+ std::vector<CppFieldPtr> OpenCVMatSerializer::getPublicVariableDeclarations(const std::string& name) const
+ {
+ CppFieldPtr field = CppFieldPtr(new CppField(getCppTypename(), name));
+ return {field};
+ }
+
+ std::vector<std::pair<std::string, std::string>> OpenCVMatSerializer::getCtorInitializers(const std::string&) const
+ {
+ return {};
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getCtorBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getResetBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
+
+ b->addLine("std::vector<int> " + accessor_dimensions + ";");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b->appendBlock(b2);
+ b->addLine(accessor + " = " + getCppTypename() + "(" + accessor_dimensions + ", " + accessor + ".type());");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getInitializeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + " = " + getCppTypename() + "(std::vector<int>({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}), " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ");");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getWriteInitialTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("w.writeOpenCVMat({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
+
+ b->addLine("std::vector<int> " + accessor_dimensions + ";");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b->appendBlock(b2);
+ b->addLine("w.writeOpenCVMat(" + accessor_dimensions + ", std::to_string(" + accessor + ".type()));");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getWriteBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
+
+ b->addLine("std::vector<int> " + accessor_dimensions + ";");
+ b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + ".dims; ++" + accessor_iterator + ")");
+ CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+ b2->addLine(accessor_dimensions + ".push_back(" + accessor + ".size[" + accessor_iterator + "]);");
+ b->appendBlock(b2);
+ b->addLine(accessor_dimensions + ".push_back(" + accessor + ".elemSize());");
+ b->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + ".type()), reinterpret_cast<const unsigned char*>(" + accessor + ".data));");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getReadBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
+ b->addLine(accessor + " = " + getCppTypename() + "(std::vector<int>({" + accessor_dimensions + ".begin(), std::prev(" + accessor_dimensions + ".end())}), std::stoi(" + accessor_type + "));");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data));");
+ return b;
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
+ b->addLine("\t return false;");
+ return b;
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
index fcd719c9e218393c27845a527cdce8fcb2922a70..dff7118e2e4dad0cdc46267e4a927f7d53435eac 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
@@ -64,9 +64,9 @@ namespace armarx::aron::cppcodegenerator::serializer
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
- static const std::string OPENCVMAT_ITERATOR_ACCESSOR;
- static const std::string OPENCVMAT_DIMENSIONS_ACCESSOR;
- static const std::string OPENCVMAT_DIFF_ACCESSOR;
+ static constexpr const char* ITERATOR_ACCESSOR = "_iterator";
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::OpenCVMatNavigatorPtr typenavigator;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index 0f52f2e3078981277aa20bd7f9f85039ff4faeda..b9f97778607242dffd0203160f7c28c343613846 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
- Serializer("std::shared_ptr<Eigen::Quaternionf>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOrientation))),
+ Serializer("Eigen::Quaternion<" + n->getTypename() + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronOrientation))),
typenavigator(n)
{
}
@@ -53,54 +53,56 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OrientationSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Quaternionf(" + accessor + "->width, " + accessor + "->height));");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr OrientationSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Quaternionf());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr OrientationSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientationType({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeOrientation();");
return b;
}
- CppBlockPtr OrientationSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
+ CppBlockPtr OrientationSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientationType({" + accessor + "->width, " + accessor + "->height}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writeOrientation();");
return b;
}
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".coeffs().data()));");
return b;
}
CppBlockPtr OrientationSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, _] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Quaternionf());");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".coeffs().data()));");
return b;
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- //b->addLine("if (" + accessor + "->width != " + otherInstanceAccessor + "->width || " + accessor + "->height != " + otherInstanceAccessor + "->height)");
+ b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
- //b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
- //b->addLine("\t return false;");
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
index a2aebf0fc9340021b2c34a8263b46e74e3746328..248a1a6da3f4a93da04e362640bdb0fa5feedd8e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
@@ -61,6 +61,9 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
+
typenavigator::OrientationNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index db9ac1e7e72d43f5fcf68f72e92a573c21380d14..cdf469274f87af9bff64544793dca566b76891f5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -41,7 +41,7 @@ namespace armarx::aron::cppcodegenerator::serializer
// constructors
PCLPointCloudSerializer::PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr& n) :
- Serializer("std::shared_ptr<pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPCLPointCloud))),
+ Serializer("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPCLPointCloud))),
typenavigator(n)
{
}
@@ -66,51 +66,55 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PCLPointCloudSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new pcl::PointCloud<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ">(" + accessor + "->width, " + accessor + "->height));");
+ b->addLine(accessor + " = " + getCppTypename() + "(" + accessor + ".width, " + accessor + ".height);");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new pcl::PointCloud<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ">(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + "));");
+ b->addLine(accessor + " = " + getCppTypename() + "(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ");");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloudType({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + "}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writePCLPointCloud(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloudType({" + accessor + "->width, " + accessor + "->height}, \"" + typenavigator->getTypename() + "\");");
+ b->addLine("w.writePCLPointCloud(" + accessor + ".width, " + accessor + ".height, \"" + typenavigator->getTypename() + "\");");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + accessor + "->width, " + accessor + "->height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->points.data()));");
+ b->addLine("w.writeNDArray({" + accessor + ".width, " + accessor + ".height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".points.data()));");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, _] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new pcl::PointCloud<" + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ">(dims[0], dims[1]));");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->points.data()));");
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string dims_accessor = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string type_accessor = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + dims_accessor + ", " + type_accessor + "] = r.readStartNDArray();");
+ b->addLine(accessor + " = " + getCppTypename() + "(" + dims_accessor + "[0], " + dims_accessor + "[1]);");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".points.data()));");
return b;
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (" + accessor + "->width != " + otherInstanceAccessor + "->width || " + accessor + "->height != " + otherInstanceAccessor + "->height)");
+ b->addLine("if (" + accessor + ".width != " + otherInstanceAccessor + ".width || " + accessor + ".height != " + otherInstanceAccessor + ".height)");
b->addLine("\t return false;");
//b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
//b->addLine("\t return false;");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 4405348096d5f6e3ab774e8c9bfc1204cd22fc3a..101ee2ee61047673fed94964f2d41da297d0c263 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -63,6 +63,8 @@ namespace armarx::aron::cppcodegenerator::serializer
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
typenavigator::PCLPointCloudNavigatorPtr typenavigator;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index e517806944548ecc0baa5ec798efabd068bc84d3..382e5853c0993997c663e80330a22fc4a085afa2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
- Serializer("std::shared_ptr<Eigen::Matrix4f>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPose))),
+ Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPose))),
typenavigator(n)
{
}
@@ -53,14 +53,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new std::shared_ptr<Eigen::Matrix4f>());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr PoseSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new std::shared_ptr<Eigen::Matrix4f>());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
@@ -81,26 +81,28 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
return b;
}
CppBlockPtr PoseSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, _] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Matrix4f());");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->points.data()));");
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
return b;
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (" + accessor + "->width != " + otherInstanceAccessor + "->width || " + accessor + "->height != " + otherInstanceAccessor + "->height)");
+ b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
- //b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
- //b->addLine("\t return false;");
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
index f58bdff1ae565e95cb4074a1cc8ef5c6a3e8c38f..567b4f1ef970f2084c7b032074808438d3d27e5d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
@@ -61,6 +61,9 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
+
typenavigator::PoseNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index 9a72117ecc4eb01107ea1055f9f3b6c3a06ac4a7..e1aa51fcfe4d98a07dab2022910b366fa27f98f0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
- Serializer("std::shared_ptr<Eigen::Vector3f>", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPosition))),
+ Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">", simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronPosition))),
typenavigator(n)
{
}
@@ -53,14 +53,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Vector3f());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
CppBlockPtr PositionSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Vector3f());");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
return b;
}
@@ -81,26 +81,28 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ b->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + ".data()));");
return b;
}
CppBlockPtr PositionSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("const auto [dims, _] = r.readStartNDArray();");
- b->addLine(accessor + " = " + getCppTypename() + "(new Eigen::Vector3f());");
- b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + "->data()));");
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_type = escaped_accessor + TYPE_ACCESSOR;
+
+ b->addLine("const auto [" + accessor_dimensions + ", " + accessor_type + "] = r.readStartNDArray();");
+ b->addLine(accessor + " = " + getCppTypename() + "();");
+ b->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + ".data()));");
return b;
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- //b->addLine("if (" + accessor + "->width != " + otherInstanceAccessor + "->width || " + accessor + "->height != " + otherInstanceAccessor + "->height)");
+ b->addLine("if (not (" + accessor + ".isApprox(" + otherInstanceAccessor + ")))");
b->addLine("\t return false;");
- //b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
- //b->addLine("\t return false;");
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
index 9de67dd0ca1a927bd35281485ab820d92018659f..94b9317e0921c8d1e9c1985eb0060d6427ddfeaa 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
@@ -61,6 +61,9 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
+ static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* TYPE_ACCESSOR = "_type";
+
typenavigator::PositionNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
index 7d2001905d466feaeca9d3134eb1850b7b0775ad..abf316efd231a753ceb49986bce6aa5c1531a38d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
@@ -30,12 +30,23 @@
#include "Primitive.h"
namespace armarx::aron::cppcodegenerator::serializer
- {
+{
+ namespace
+ {
+ std::string convertStdString(const std::string& s)
+ {
+ if(s == "string")
+ {
+ return "std::string";
+ }
+ return s;
+ }
+ }
#define RUN_ARON_MACRO(upperType, lowerType, capsType, upperData, lowerData, capsData) \
/* constructors */ \
upperType##Serializer::upperType##Serializer(const typenavigator::upperType##NavigatorPtr& e) : \
- Serializer(simox::meta::get_type_name(typeid(lowerData)), simox::meta::get_type_name(typeid(data::Aron##upperData)), simox::meta::get_type_name(typeid(type::Aron##upperType))), \
+ Serializer(convertStdString(#lowerData), simox::meta::get_type_name(typeid(data::Aron##upperData)), simox::meta::get_type_name(typeid(type::Aron##upperType))), \
typenavigator(e) \
{ \
\
@@ -76,14 +87,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr upperType##Serializer::getWriteInitialTypeBlock(const std::string&) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.write" + std::string(#upperType) + "Type();"); \
+ b->addLine("w.write" + std::string(#upperType) + "();"); \
return b; \
} \
\
CppBlockPtr upperType##Serializer::getWriteCurrentTypeBlock(const std::string&) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.write" + std::string(#upperType) + "Type();"); \
+ b->addLine("w.write" + std::string(#upperType) + "();"); \
return b; \
} \
\
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..20d453e18ad146c2bb7c3c8f1a05f4961232978e
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -0,0 +1,120 @@
+/*
+ * 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
+ */
+
+// Header
+#include "IntEnumClass.h"
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+ // constructors
+ IntEnumClassSerializer::IntEnumClassSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
+ Serializer(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum))),
+ navigator(n)
+ {
+ }
+
+ std::vector<CppFieldPtr> IntEnumClassSerializer::getPublicVariableDeclarations(const std::string&) const
+ {
+ std::vector<CppFieldPtr> fields;
+ std::stringstream val_to_name;
+ std::stringstream name_to_val;
+ val_to_name << "{" << std::endl;
+ name_to_val << "{" << std::endl;
+ for (const auto& [key, value] : navigator->getAcceptedValues())
+ {
+ fields.push_back(std::make_shared<CppField>("static const int", key, std::to_string(value)));
+ val_to_name << "\t\t{" << key << ", \"" << key << "\"}," << std::endl;
+ name_to_val << "\t\t{\"" << key << "\", " << key << "}," << std::endl;
+ }
+ val_to_name << "\t}";
+ name_to_val << "\t}";
+
+ fields.push_back(std::make_shared<CppField>("const std::map<int, std::string>", "ToStringMap", val_to_name.str()));
+ fields.push_back(std::make_shared<CppField>("const std::map<std::string, int>", "FromStringMap", name_to_val.str()));
+
+ fields.push_back(std::make_shared<CppField>("int", "value", "-1"));
+
+ return fields;
+ }
+
+ std::vector<std::pair<std::string, std::string>> IntEnumClassSerializer::getCtorInitializers(const std::string&) const
+ {
+ return {};
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getCtorBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getResetBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getWriteInitialTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getInitializeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("value = -1;");
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getWriteBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("w.writePrimitive(value);");
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getReadBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("r.readPrimitive(value);");
+ return b;
+ }
+
+ CppBlockPtr IntEnumClassSerializer::getEqualsBlock(const std::string&, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (value == " + otherInstanceAccessor + ".value))");
+ b->addLine("\t return false;");
+ return b;
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
new file mode 100644
index 0000000000000000000000000000000000000000..a2d2ad463f73b98354cf4bc231511df26bc0a750
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -0,0 +1,70 @@
+/*
+ * 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
+
+// STD/STL
+#include <string>
+#include <map>
+
+// Base Class
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h>
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+
+ class IntEnumClassSerializer;
+ typedef std::shared_ptr<IntEnumClassSerializer> IntEnumClassSerializerPtr;
+
+ class IntEnumClassSerializer :
+ virtual public Serializer
+ {
+ public:
+ using PointerType = IntEnumClassSerializerPtr;
+
+ public:
+ // constructors
+ IntEnumClassSerializer(const typenavigator::IntEnumNavigatorPtr&);
+
+ // virtual implementations
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
+ virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
+ virtual CppBlockPtr getCtorBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteBlock(const std::string&) const override;
+ virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+
+ private:
+ // Members
+ static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
+
+ typenavigator::IntEnumNavigatorPtr navigator;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dc1c52a4e7b9963cb33013f36f65869e47c7199b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -0,0 +1,199 @@
+/*
+ * 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
+ */
+
+// Header
+#include "ObjectClass.h"
+
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+ // constructors
+ ObjectClassSerializer::ObjectClassSerializer(const typenavigator::ObjectNavigatorPtr& e) :
+ Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
+ navigator(e)
+ {
+ //AddObjectTypeToAllObjectTypesList(ObjectNavigatorPtr(this));
+ }
+
+ std::vector<CppFieldPtr> ObjectClassSerializer::getPublicVariableDeclarations(const std::string&) const
+ {
+ std::vector<CppFieldPtr> fields;
+ for (const auto& [key, member] : navigator->getMemberTypes())
+ {
+ auto member_s = FromAronTypeNaviagtorPtr(member);
+ std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
+ fields.insert(fields.end(), member_fields.begin(), member_fields.end());
+ }
+ return fields;
+ }
+
+ std::vector<std::pair<std::string, std::string>> ObjectClassSerializer::getCtorInitializers(const std::string&) const
+ {
+ return {};
+ }
+
+ CppBlockPtr ObjectClassSerializer::getCtorBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getResetBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::reset();");
+ }
+
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ auto child_s = FromAronTypeNaviagtorPtr(child);
+ CppBlockPtr b2 = child_s->getResetBlock(key);
+ b->appendBlock(b2);
+ }
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getInitializeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::initialize();");
+ }
+
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ const auto child_s = FromAronTypeNaviagtorPtr(child);
+ CppBlockPtr b2 = child_s->getInitializeBlock(key);
+ b->appendBlock(b2);
+ }
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getWriteInitialTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::writeInitialType(w);");
+ }
+
+ b->addLine("w.writeStartObject(\"" + navigator->getObjectName() + "\");");
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ const auto child_s = FromAronTypeNaviagtorPtr(child);
+ b->addLine("w.writeKey(\"" + key + "\");");
+ CppBlockPtr b2 = child_s->getWriteInitialTypeBlock(child_s->getCppTypename());
+ b->appendBlock(b2);
+ }
+ b->addLine("w.writeEndObject();");
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::writeCurrentType(w);");
+ }
+
+ b->addLine("w.writeStartObject(\"" + navigator->getObjectName() + "\");");
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ const auto child_s = FromAronTypeNaviagtorPtr(child);
+ b->addLine("w.writeKey(\"" + key + "\");");
+ CppBlockPtr b2 = child_s->getWriteCurrentTypeBlock(key);
+ b->appendBlock(b2);
+ }
+ b->addLine("w.writeEndObject();");
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getWriteBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::write(w, aron_type);");
+ }
+
+ b->addLine("w.writeStartDict();");
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ const auto child_s = FromAronTypeNaviagtorPtr(child);
+ b->addLine("w.writeKey(\"" + key + "\");");
+ CppBlockPtr b2 = child_s->getWriteBlock(key);
+ b->appendBlock(b2);
+ }
+ b->addLine("w.writeEndDict();");
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getReadBlock(const std::string&) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine(extends_s->getCppTypename() + "::read(r);");
+ }
+
+ b->addLine("r.readStartDict();");
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ const auto child_s = FromAronTypeNaviagtorPtr(child);
+ b->addLine("r.loadMember(\"" + key + "\");");
+ CppBlockPtr b2 = child_s->getReadBlock(key);
+ b->appendBlock(b2);
+ }
+ b->addLine("r.readEndDict();");
+ return b;
+ }
+
+ CppBlockPtr ObjectClassSerializer::getEqualsBlock(const std::string&, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (navigator->getExtends() != nullptr)
+ {
+ const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
+ b->addLine("if (not (" + extends_s->getCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
+ b->addLine("\t return false;");
+ }
+ for (const auto& [key, child] : navigator->getMemberTypes())
+ {
+ auto child_s = FromAronTypeNaviagtorPtr(child);
+ CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
+ b->appendBlock(b2);
+ }
+ return b;
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
new file mode 100644
index 0000000000000000000000000000000000000000..7b996cb7625ab2968d515cb0db05060a85e0ce60
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
@@ -0,0 +1,71 @@
+/*
+ * 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
+
+// STD/STL
+#include <string>
+#include <map>
+
+// Base Class
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+
+
+namespace armarx::aron::cppcodegenerator::serializer
+{
+
+ class ObjectClassSerializer;
+ typedef std::shared_ptr<ObjectClassSerializer> ObjectClassSerializerPtr;
+
+ class ObjectClassSerializer :
+ virtual public Serializer
+ {
+ public:
+ using PointerType = ObjectClassSerializerPtr;
+
+ public:
+ // constructors
+ ObjectClassSerializer(const typenavigator::ObjectNavigatorPtr&);
+
+ // virtual implementations
+ std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
+ virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
+ virtual CppBlockPtr getCtorBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteBlock(const std::string&) const override;
+ virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+
+ private:
+ // members
+ static constexpr const char* EXTENDS_ITERATOR_ACCESSOR = "_extends";
+
+ typenavigator::ObjectNavigatorPtr navigator;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/Reader.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/Reader.h
index 0cdc95710df5a6efaad982591d4a0ef70cdd2c60..c65d64893b4ecc86f2c5b97a7bc7be5cdbb18ff0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/Reader.h
@@ -66,9 +66,13 @@ namespace armarx::aron::typereader
{
return readers;
}
- std::vector<codegeneratorhelper::GenerateTypeInfoPtr> getGenerateTypes() const
+ std::vector<codegeneratorhelper::GenerateObjectInfoPtr> getGenerateObjects() const
{
- return generateTypes;
+ return generateObjects;
+ }
+ std::vector<codegeneratorhelper::GenerateIntEnumInfoPtr> getGenerateIntEnums() const
+ {
+ return generateIntEnums;
}
protected:
@@ -78,6 +82,7 @@ namespace armarx::aron::typereader
std::vector<std::string> aronIncludes;
std::vector<codegeneratorhelper::ReaderInfoPtr> readers;
std::vector<codegeneratorhelper::WriterInfoPtr> writers;
- std::vector<codegeneratorhelper::GenerateTypeInfoPtr> generateTypes;
+ std::vector<codegeneratorhelper::GenerateIntEnumInfoPtr> generateIntEnums;
+ std::vector<codegeneratorhelper::GenerateObjectInfoPtr> generateObjects;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
index 85658becf94b453963859b25a6e180838dd7b980..2f152c9e4d1d2925d8a0c5848f9529458b666604 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -54,15 +54,16 @@ namespace armarx::aron::xmltypereader
static constexpr const char* GENERATE_TYPES_TAG = "generatetypes";
static constexpr const char* INCLUDE_TAG = "include";
- static constexpr const char* GENERATE_TYPE_TAG = "generatetype";
+ static constexpr const char* GENERATE_OBJECT_TAG = "object";
+ static constexpr const char* GENERATE_INT_ENUM_TAG = "intenum";
// Attribute names
- static constexpr const char* METHOD_ATTRIBUTE_NAME = "include";
- static constexpr const char* RETURN_ATTRIBUTE_NAME = "method";
- static constexpr const char* ARGUMENT_TYPE_ATTRIBUTE_NAME = "return";
- static constexpr const char* INCLUDE_ATTRIBUTE_NAME = "argumenttype";
- static constexpr const char* READER_ATTRIBUTE_NAME = "writer";
- static constexpr const char* WRITER_ATTRIBUTE_NAME = "reader";
+ static constexpr const char* METHOD_ATTRIBUTE_NAME = "method";
+ static constexpr const char* RETURN_ATTRIBUTE_NAME = "return";
+ static constexpr const char* ARGUMENT_TYPE_ATTRIBUTE_NAME = "argumenttype";
+ static constexpr const char* INCLUDE_ATTRIBUTE_NAME = "include";
+ static constexpr const char* READER_ATTRIBUTE_NAME = "reader";
+ static constexpr const char* WRITER_ATTRIBUTE_NAME = "writer";
static constexpr const char* EXTENDS_ATTRIBUTE_NAME = "extends";
static constexpr const char* NAME_ATTRIBUTE_NAME = "name";
static constexpr const char* VALUE_ATTRIBUTE_NAME = "value";
@@ -79,11 +80,11 @@ namespace armarx::aron::xmltypereader
static constexpr const char* ENUM_VALUE_TAG = "enumvalue";
// Top Level type tags
- #define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- static constexpr const char* GENERATE_##capsType##_TAG = #lowerType;
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ static constexpr const char* GENERATE_##capsType##_MEMBER_TAG = #lowerType;
HANDLE_ALL_ARON_TYPES
- #undef RUN_ARON_MACRO
+#undef RUN_ARON_MACRO
static void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att)
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
index 812e261fa892eab843cf52eff7201205c56fee1a..6bf00c8db81a9bd61b579d760b6b250f47544537 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
@@ -131,9 +131,22 @@ namespace armarx::aron::xmltypereader
for (const auto& generateType : children[generate_types_index].nodes())
{
// ugly workaround
- const typenavigator::ObjectNavigatorPtr aronObj = readGenerateType(generateType);
- const std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr> generatedObjects = factory.GetAllKnownGeneratedPublicObjects();
- generateTypes.push_back(generatedObjects.at(aronObj->getObjectName()));
+ if(Data::HasTagName(generateType, Data::GENERATE_OBJECT_TAG))
+ {
+ const auto nav = readGenerateObject(generateType);
+ const auto infos = factory.AllPublicObjects;
+ generateObjects.push_back(infos.at(simox::alg::to_lower(nav->getObjectName())));
+ continue;
+ }
+ if(Data::HasTagName(generateType, Data::GENERATE_INT_ENUM_TAG))
+ {
+ const auto nav = readGenerateIntEnum(generateType);
+ const auto infos = factory.AllPublicIntEnums;
+ generateIntEnums.push_back(infos.at(simox::alg::to_lower(nav->getEnumName())));
+ continue;
+ }
+ throw error::StringNotValidException("XMLReader", "parse", "Could not find a valid tag inside generatetypes", generateType.name());
+
}
}
}
@@ -159,10 +172,17 @@ namespace armarx::aron::xmltypereader
return xmlinclude;
}
- typenavigator::ObjectNavigatorPtr Reader::readGenerateType(const RapidXmlReaderNode& node) const
+ typenavigator::ObjectNavigatorPtr Reader::readGenerateObject(const RapidXmlReaderNode& node) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_OBJECT_TAG);
+ return typenavigator::ObjectNavigator::DynamicCastAndCheck(factory.create(node, Path()));
+
+ }
+
+ typenavigator::IntEnumNavigatorPtr Reader::readGenerateIntEnum(const RapidXmlReaderNode& node) const
{
- Data::EnforceTagName(node, Data::GENERATE_TYPE_TAG);
- return typenavigator::ObjectNavigator::DynamicCast(factory.createSpecific(node, Path()));
+ Data::EnforceTagName(node, Data::GENERATE_INT_ENUM_TAG);
+ return typenavigator::IntEnumNavigator::DynamicCastAndCheck(factory.create(node, Path()));
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
index 6decba395d2fdfc9e35c1d7fd6cd7d5638e0d4ba..0801465160e06ddbd0ebfc78b57d8b8bb97eafcd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
@@ -57,9 +57,10 @@ namespace armarx::aron::xmltypereader
std::string readCppInclude(const RapidXmlReaderNode& node) const;
std::string readAronInclude(const RapidXmlReaderNode& node) const;
- typenavigator::ObjectNavigatorPtr readGenerateType(const RapidXmlReaderNode& node) const;
+ typenavigator::ObjectNavigatorPtr readGenerateObject(const RapidXmlReaderNode& node) const;
+ typenavigator::IntEnumNavigatorPtr readGenerateIntEnum(const RapidXmlReaderNode& node) const;
private:
- ObjectReaderFactory factory;
+ ReaderFactory factory;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index dbb245ad18601a3b5a6729cc4b86ac611e154454..da9eff9f25c9ee9478d7c183ae4fde981e21a16f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -34,354 +34,381 @@
#include <RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h>
namespace armarx::aron::xmltypereader
- {
- std::stack<codegeneratorhelper::GenerateTypeInfoPtr> ReaderFactory::TheObjectWeAreGoingToGenerateNowStack = {};
- std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr> ReaderFactory::AllKnownGeneratedPublicObjects = {};
+{
+ std::stack<codegeneratorhelper::GenerateObjectInfoPtr> ReaderFactory::ObjectGenerationStack = {};
+ std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr> ReaderFactory::AllPublicObjects = {};
+ std::map<std::string, codegeneratorhelper::GenerateIntEnumInfoPtr> ReaderFactory::AllPublicIntEnums = {};
- typenavigator::NavigatorPtr ReaderFactory::create(const RapidXmlReaderNode& node, const Path& path) const
- {
+ typenavigator::NavigatorPtr ReaderFactory::create(const RapidXmlReaderNode& node, const Path& path) const
+ {
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- {Data::GENERATE_##capsType##_TAG, ReaderFactoryPtr(new upperType##ReaderFactory())},
- static const std::map<std::string, ReaderFactoryPtr> Factories =
- {
- HANDLE_ALL_ARON_TYPES
- };
+ {Data::GENERATE_##capsType##_MEMBER_TAG, ReaderFactoryPtr(new upperType##ReaderFactory())},
+ static const std::map<std::string, ReaderFactoryPtr> Factories =
+ {
+ {Data::GENERATE_OBJECT_TAG, ReaderFactoryPtr(new ObjectReaderFactory())},
+ {Data::GENERATE_INT_ENUM_TAG, ReaderFactoryPtr(new IntEnumReaderFactory())},
+ HANDLE_ALL_ARON_TYPES
+ };
#undef RUN_ARON_MACRO
- const std::string tag = simox::alg::to_lower(node.name());
- if (tag == "")
- {
- throw error::AronException("XMLReaderFactory", "create", "An node is empty. Cannot find facory for empty nodes.");
- }
- auto factory_iterator = Factories.find(tag);
- if (factory_iterator != Factories.end())
- {
- return factory_iterator->second->createSpecific(node, path);
- }
-
- // Search for known objects
- return ResolveTypename(tag);
- }
-
- std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr> ReaderFactory::GetAllKnownGeneratedPublicObjects()
- {
- return AllKnownGeneratedPublicObjects;
- }
-
- typenavigator::NavigatorPtr ReaderFactory::ResolveTypename(const std::string& name)
- {
- const auto public_it = AllKnownGeneratedPublicObjects.find(name);
- if (public_it != AllKnownGeneratedPublicObjects.end())
- {
- return public_it->second->correspondingObjectType;
- }
-
- throw error::StringNotValidException("XMLReaderFactory", "ResolveTypename", "Could not find a tag. Please note that you cant make use of nested objects yet", name);
- }
-
- // Object type
- typenavigator::NavigatorPtr ObjectReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceAttribute(node, Data::NAME_ATTRIBUTE_NAME);
- const std::string extends = Data::GetAttributeWithDefault(node, Data::EXTENDS_ATTRIBUTE_NAME, "");
- const std::string name = Data::GetAttribute(node, Data::NAME_ATTRIBUTE_NAME);
-
- bool object_is_nested = TheObjectWeAreGoingToGenerateNowStack.size() > 0;
-
- // set the new object
- typenavigator::ObjectNavigatorPtr aronObjectType = typenavigator::ObjectNavigatorPtr(new typenavigator::ObjectNavigator(path));
- if (object_is_nested)
- {
- if (name.rfind("::") != std::string::npos)
- {
- throw error::StringNotValidException("AronObjectTypeXMLReaderFactory", "createSpecific", "Namespaces are not allowed in nested classes", name);
- }
- }
- aronObjectType->setObjectName(name);
-
- codegeneratorhelper::GenerateTypeInfoPtr theObjectWeAreGoingToProduceNow = codegeneratorhelper::GenerateTypeInfoPtr(new codegeneratorhelper::GenerateTypeInfo());
- theObjectWeAreGoingToProduceNow->typeName = name;
- theObjectWeAreGoingToProduceNow->correspondingObjectType = aronObjectType;
-
- if (extends != "")
- {
- auto it = AllKnownGeneratedPublicObjects.find(extends);
- if (it != AllKnownGeneratedPublicObjects.end())
- {
- codegeneratorhelper::GenerateTypeInfoPtr prodObj = it->second;
- aronObjectType->setExtends(prodObj->correspondingObjectType);
- }
- else
- {
- throw error::StringNotValidException("AronObjectTypeXMLReaderFactory", "createSpecific", "An extends name could not be found. Perhaps you need to change the order of your types or you have to add another UseType", extends);
- }
- }
-
- TheObjectWeAreGoingToGenerateNowStack.push(theObjectWeAreGoingToProduceNow);
- for (const RapidXmlReaderNode& objectChild : node.nodes())
- {
- Data::EnforceTagName(objectChild, Data::OBJECT_CHILD_TAG);
- Data::EnforceChildSize(objectChild, 1);
-
- Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
- const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
-
- std::vector<RapidXmlReaderNode> children = objectChild.nodes();
- typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
- aronObjectType->addMemberType(key, childNavigator);
- }
-
- // remove current item from stack
- TheObjectWeAreGoingToGenerateNowStack.pop();
-
- if (object_is_nested)
- {
- // We are in a local nested class since there is a parent class in stack
- codegeneratorhelper::GenerateTypeInfoPtr parent = TheObjectWeAreGoingToGenerateNowStack.top();
- parent->nestedObjects.insert(std::make_pair(theObjectWeAreGoingToProduceNow->typeName, theObjectWeAreGoingToProduceNow));
- }
- else
- {
- // We are a public top level class. Add to AllProducedPublicObjects
- AllKnownGeneratedPublicObjects.insert(std::make_pair(theObjectWeAreGoingToProduceNow->typeName, theObjectWeAreGoingToProduceNow));
- }
-
- return aronObjectType;
- }
-
- // List type (List)
- typenavigator::NavigatorPtr ListReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_LIST_TAG);
-
- typenavigator::ListNavigatorPtr list(new typenavigator::ListNavigator(path));
- Data::EnforceChildSize(node, 1);
- std::vector<RapidXmlReaderNode> listTypeNodeChildren = node.nodes();
- const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
- typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
-
- list->setAcceptedType(type);
- return list;
- }
-
- // List type (Dict)
- typenavigator::NavigatorPtr DictReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_DICT_TAG);
-
- typenavigator::DictNavigatorPtr dict(new typenavigator::DictNavigator(path));
- Data::EnforceChildSize(node, 1);
- std::vector<RapidXmlReaderNode> dictTypeNodeChildren = node.nodes();
- const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
- typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- dict->setAcceptedType(type);
-
- return dict;
- }
-
- // List type (Tuple)
- typenavigator::NavigatorPtr TupleReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_TUPLE_TAG);
- std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
-
- if (nodeChildren.size() < 1)
- {
- throw error::AronException("AronTupleTypeXMLReaderFactory", "createSpecific", "A tuple must have at least one type. Found child nodes size: " + std::to_string(nodeChildren.size()));
- }
-
- typenavigator::TupleNavigatorPtr tuple(new typenavigator::TupleNavigator(path));
- unsigned int i = 0;
- for (const RapidXmlReaderNode& tupleTypeDeclarationNode : nodeChildren)
- {
- Data::EnforceChildSize(tupleTypeDeclarationNode, 1);
-
- std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
- const RapidXmlReaderNode typeNode = typeNodeChildren[0];
-
- typenavigator::NavigatorPtr type = create(typeNode, Path(path, "<" + std::to_string(i++) + ">"));
- tuple->addAcceptedType(type);
- }
- return tuple;
- }
-
- // List type (Pair)
- typenavigator::NavigatorPtr PairReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_PAIR_TAG);
- std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
-
- if (nodeChildren.size() != 2)
- {
- throw error::AronException("AronPairTypeXMLReaderFactory", "createSpecific", "A pair must have two types. Found child nodes size: " + std::to_string(nodeChildren.size()));
- }
-
- typenavigator::PairNavigatorPtr pair(new typenavigator::PairNavigator(path));
-
- Data::EnforceChildSize(nodeChildren[0], 1);
- std::vector<RapidXmlReaderNode> type1NodeChildren = nodeChildren[0].nodes();
- const RapidXmlReaderNode type1Node = type1NodeChildren[0];
-
- typenavigator::NavigatorPtr type1 = create(type1Node, Path(path, std::to_string(0)));
- pair->setFirstAcceptedType(type1);
-
- Data::EnforceChildSize(nodeChildren[1], 1);
- std::vector<RapidXmlReaderNode> type2NodeChildren = nodeChildren[1].nodes();
- const RapidXmlReaderNode type2Node = type2NodeChildren[0];
-
- typenavigator::NavigatorPtr type2 = create(type2Node, Path(path, std::to_string(1)));
- pair->setSecondAcceptedType(type2);
-
- return pair;
- }
-
- // Complex type (IVTCByteImage)
- typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
-
- typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
- complex->setWidth(width);
- complex->setHeight(height);
- complex->setTypename(type);
- return complex;
- }
-
- // Complex type (EigenMatrix)
- typenavigator::NavigatorPtr EigenMatrixReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_EIGEN_MATRIX_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- int rows = std::stoi(Data::GetAttributeWithDefault(node, Data::ROWS_ATTRIBUTE_NAME, "1"));
- int cols = std::stoi(Data::GetAttributeWithDefault(node, Data::COLS_ATTRIBUTE_NAME, "1"));
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
-
- typenavigator::EigenMatrixNavigatorPtr complex(new typenavigator::EigenMatrixNavigator(path));
- complex->setRows(rows);
- complex->setCols(cols);
- complex->setTypename(type);
- return complex;
- }
-
- // Complex type (EigenQuaternion)
- typenavigator::NavigatorPtr EigenQuaternionReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_EIGEN_QUATERNION_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
-
- typenavigator::EigenQuaternionNavigatorPtr complex(new typenavigator::EigenQuaternionNavigator(path));
- complex->setTypename(type);
- return complex;
- }
-
- // Complex type (OpenCVMat)
- typenavigator::NavigatorPtr OpenCVMatReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_OPENCV_MAT_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- std::vector<std::string> dimensions_as_strings = simox::alg::split(Data::GetAttributeWithDefault(node, Data::DIMENSIONS_ATTRIBUTE_NAME, "1"), ",");
- std::vector<int> dimensions = simox::alg::to_vec<int>(dimensions_as_strings);
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
-
- typenavigator::OpenCVMatNavigatorPtr complex(new typenavigator::OpenCVMatNavigator(path));
- complex->setDimensions(dimensions);
- complex->setTypename(type);
- return complex;
- }
-
- // Complex type (PCLPointCloud)
- typenavigator::NavigatorPtr PCLPointCloudReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_PCL_POINTCLOUD_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
-
- typenavigator::PCLPointCloudNavigatorPtr complex(new typenavigator::PCLPointCloudNavigator(path));
- complex->setWidth(width);
- complex->setHeight(height);
- complex->setTypename(type);
- return complex;
- }
-
- // Complex type (Position)
- typenavigator::NavigatorPtr PositionReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_POSITION_TAG);
-
- typenavigator::PositionNavigatorPtr complex(new typenavigator::PositionNavigator(path));
- return complex;
- }
-
- // Complex type (Orientation)
- typenavigator::NavigatorPtr OrientationReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_ORIENTATION_TAG);
-
- typenavigator::OrientationNavigatorPtr complex(new typenavigator::OrientationNavigator(path));
- return complex;
- }
-
- // Complex type (Pose)
- typenavigator::NavigatorPtr PoseReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_POSE_TAG);
-
- typenavigator::PoseNavigatorPtr complex(new typenavigator::PoseNavigator(path));
- return complex;
- }
-
-
-
- // Enum (IntEnum)
- typenavigator::NavigatorPtr IntEnumReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_INT_ENUM_TAG);
- Data::EnforceAttribute(node, Data::NAME_ATTRIBUTE_NAME);
-
- std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
-
- std::string name = node.attribute_value(Data::NAME_ATTRIBUTE_NAME);
-
- typenavigator::IntEnumNavigatorPtr complex(new typenavigator::IntEnumNavigator(path));
- complex->setEnumName(name);
+ const std::string tag = simox::alg::to_lower(node.name());
+ if (tag == "")
+ {
+ throw error::AronException("XMLReaderFactory", "create", "An node is empty. Cannot find facory for empty nodes.");
+ }
+ auto factory_iterator = Factories.find(tag);
+ if (factory_iterator != Factories.end())
+ {
+ return factory_iterator->second->createSpecific(node, path);
+ }
+
+ // Search for known objects
+ return ResolveTypename(tag);
+ }
+
+ typenavigator::NavigatorPtr ReaderFactory::createSpecific(const RapidXmlReaderNode&, const Path& p) const
+ {
+ throw error::AronException("ReaderFactory", "createSpecific", "Called disallowed method of an NavigatorFactory. Use child class instead!", p);
+ }
+
+ typenavigator::NavigatorPtr ReaderFactory::ResolveTypename(const std::string& name)
+ {
+ const auto public_intenum_it = AllPublicIntEnums.find(name);
+ if (public_intenum_it != AllPublicIntEnums.end())
+ {
+ return public_intenum_it->second->correspondingType;
+ }
+
+ const auto public_obj_it = AllPublicObjects.find(name);
+ if (public_obj_it != AllPublicObjects.end())
+ {
+ return public_obj_it->second->correspondingType;
+ }
+
+ throw error::StringNotValidException("XMLReaderFactory", "ResolveTypename", "Could not find a tag. You can only access already finished public objects.", name);
+ }
+
+ // Object type
+ typenavigator::NavigatorPtr ObjectReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceAttribute(node, Data::NAME_ATTRIBUTE_NAME);
+ const std::string extends = Data::GetAttributeWithDefault(node, Data::EXTENDS_ATTRIBUTE_NAME, "");
+ const std::string name = Data::GetAttribute(node, Data::NAME_ATTRIBUTE_NAME);
+
+ bool object_is_nested = ObjectGenerationStack.size() > 0;
+ if (object_is_nested)
+ {
+ if (name.rfind("::") != std::string::npos)
+ {
+ throw error::StringNotValidException("AronObjectTypeXMLReaderFactory", "createSpecific", "Namespaces are not allowed in nested classes", name, path);
+ }
+ }
+
+ // set the new object
+ auto aronObjectType = std::make_shared<typenavigator::ObjectNavigator>(path);
+ aronObjectType->setObjectName(name);
+
+ auto newObject = std::make_shared<codegeneratorhelper::GenerateObjectInfo>();
+ newObject->typeName = name;
+ newObject->correspondingType = aronObjectType;
+
+ if (extends != "")
+ {
+ auto it = AllPublicObjects.find(extends);
+ if (it == AllPublicObjects.end())
+ {
+ throw error::StringNotValidException("AronObjectTypeXMLReaderFactory", "createSpecific", "An extends name could not be found. Perhaps you need to change the order of your types or you have to add another UseType", extends, path);
+ }
+ codegeneratorhelper::GenerateObjectInfoPtr parentObj = it->second;
+ aronObjectType->setExtends(parentObj->correspondingType);
+ }
+
+ ObjectGenerationStack.push(newObject);
+ for (const RapidXmlReaderNode& objectChild : node.nodes())
+ {
+ Data::EnforceTagName(objectChild, Data::OBJECT_CHILD_TAG);
+ Data::EnforceChildSize(objectChild, 1);
+
+ Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
+ const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+
+ std::vector<RapidXmlReaderNode> children = objectChild.nodes();
+ typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
+ aronObjectType->addMemberType(key, childNavigator);
+ }
+ ObjectGenerationStack.pop();
+
+ if (object_is_nested)
+ {
+ // We are in a local nested class since there is a parent class in stack
+ codegeneratorhelper::GenerateObjectInfoPtr parent = ObjectGenerationStack.top();
+ parent->nestedObjects.insert(std::make_pair(simox::alg::to_lower(newObject->typeName), newObject));
+ }
+ else
+ {
+ // We are a public top level class. Add to AllPublicObjects
+ AllPublicObjects.insert(std::make_pair(simox::alg::to_lower(newObject->typeName), newObject));
+ }
+
+ return aronObjectType;
+ }
+
+ // List type (List)
+ typenavigator::NavigatorPtr ListReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_LIST_MEMBER_TAG);
+
+ typenavigator::ListNavigatorPtr list(new typenavigator::ListNavigator(path));
+ Data::EnforceChildSize(node, 1);
+ std::vector<RapidXmlReaderNode> listTypeNodeChildren = node.nodes();
+ const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
+ typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
+
+ list->setAcceptedType(type);
+ return list;
+ }
+
+ // List type (Dict)
+ typenavigator::NavigatorPtr DictReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_DICT_MEMBER_TAG);
+
+ typenavigator::DictNavigatorPtr dict(new typenavigator::DictNavigator(path));
+ Data::EnforceChildSize(node, 1);
+ std::vector<RapidXmlReaderNode> dictTypeNodeChildren = node.nodes();
+ const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
+ typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
+ dict->setAcceptedType(type);
+
+ return dict;
+ }
+
+ // List type (Tuple)
+ typenavigator::NavigatorPtr TupleReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_TUPLE_MEMBER_TAG);
+ std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
+
+ if (nodeChildren.size() < 1)
+ {
+ throw error::AronException("AronTupleTypeXMLReaderFactory", "createSpecific", "A tuple must have at least one type. Found child nodes size: " + std::to_string(nodeChildren.size()));
+ }
+
+ typenavigator::TupleNavigatorPtr tuple(new typenavigator::TupleNavigator(path));
+ unsigned int i = 0;
+ for (const RapidXmlReaderNode& tupleTypeDeclarationNode : nodeChildren)
+ {
+ Data::EnforceChildSize(tupleTypeDeclarationNode, 1);
+
+ std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
+ const RapidXmlReaderNode typeNode = typeNodeChildren[0];
+
+ typenavigator::NavigatorPtr type = create(typeNode, Path(path, "<" + std::to_string(i++) + ">"));
+ tuple->addAcceptedType(type);
+ }
+ return tuple;
+ }
+
+ // List type (Pair)
+ typenavigator::NavigatorPtr PairReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_PAIR_MEMBER_TAG);
+ std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
+
+ if (nodeChildren.size() != 2)
+ {
+ throw error::AronException("AronPairTypeXMLReaderFactory", "createSpecific", "A pair must have two types. Found child nodes size: " + std::to_string(nodeChildren.size()));
+ }
+
+ typenavigator::PairNavigatorPtr pair(new typenavigator::PairNavigator(path));
+
+ Data::EnforceChildSize(nodeChildren[0], 1);
+ std::vector<RapidXmlReaderNode> type1NodeChildren = nodeChildren[0].nodes();
+ const RapidXmlReaderNode type1Node = type1NodeChildren[0];
+
+ typenavigator::NavigatorPtr type1 = create(type1Node, Path(path, std::to_string(0)));
+ pair->setFirstAcceptedType(type1);
+
+ Data::EnforceChildSize(nodeChildren[1], 1);
+ std::vector<RapidXmlReaderNode> type2NodeChildren = nodeChildren[1].nodes();
+ const RapidXmlReaderNode type2Node = type2NodeChildren[0];
+
+ typenavigator::NavigatorPtr type2 = create(type2Node, Path(path, std::to_string(1)));
+ pair->setSecondAcceptedType(type2);
- for (const RapidXmlReaderNode& acceptedValueDeclarationNode : nodeChildren)
- {
- Data::EnforceTagName(acceptedValueDeclarationNode, Data::ENUM_VALUE_TAG);
- Data::EnforceAttribute(acceptedValueDeclarationNode, Data::NAME_ATTRIBUTE_NAME);
- Data::EnforceAttribute(acceptedValueDeclarationNode, Data::VALUE_ATTRIBUTE_NAME);
-
- Data::EnforceChildSize(acceptedValueDeclarationNode, 0);
+ return pair;
+ }
+
+ // Complex type (IVTCByteImage)
+ typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_MEMBER_TAG);
+ Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+
+ int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
+ int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
+
+ typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
+ complex->setWidth(width);
+ complex->setHeight(height);
+ complex->setTypename(type);
+ return complex;
+ }
+
+ // Complex type (EigenMatrix)
+ typenavigator::NavigatorPtr EigenMatrixReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_EIGEN_MATRIX_MEMBER_TAG);
+ Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+
+ int rows = std::stoi(Data::GetAttributeWithDefault(node, Data::ROWS_ATTRIBUTE_NAME, "1"));
+ int cols = std::stoi(Data::GetAttributeWithDefault(node, Data::COLS_ATTRIBUTE_NAME, "1"));
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
+
+ typenavigator::EigenMatrixNavigatorPtr complex(new typenavigator::EigenMatrixNavigator(path));
+ complex->setRows(rows);
+ complex->setCols(cols);
+ complex->setTypename(type);
+ return complex;
+ }
+
+ // Complex type (EigenQuaternion)
+ typenavigator::NavigatorPtr EigenQuaternionReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_EIGEN_QUATERNION_MEMBER_TAG);
+ Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
- std::string name = acceptedValueDeclarationNode.attribute_value(Data::NAME_ATTRIBUTE_NAME);
- int value = std::stoi(acceptedValueDeclarationNode.attribute_value(Data::VALUE_ATTRIBUTE_NAME));
+ typenavigator::EigenQuaternionNavigatorPtr complex(new typenavigator::EigenQuaternionNavigator(path));
+ complex->setTypename(type);
+ return complex;
+ }
+
+ // Complex type (OpenCVMat)
+ typenavigator::NavigatorPtr OpenCVMatReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_OPENCV_MAT_MEMBER_TAG);
+ Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+
+ std::vector<std::string> dimensions_as_strings = simox::alg::split(Data::GetAttributeWithDefault(node, Data::DIMENSIONS_ATTRIBUTE_NAME, "1"), ",");
+ std::vector<int> dimensions = simox::alg::to_vec<int>(dimensions_as_strings);
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
+
+ typenavigator::OpenCVMatNavigatorPtr complex(new typenavigator::OpenCVMatNavigator(path));
+ complex->setDimensions(dimensions);
+ complex->setTypename(type);
+ return complex;
+ }
+
+ // Complex type (PCLPointCloud)
+ typenavigator::NavigatorPtr PCLPointCloudReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_PCL_POINTCLOUD_MEMBER_TAG);
+ Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+
+ int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
+ int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
+
+ typenavigator::PCLPointCloudNavigatorPtr complex(new typenavigator::PCLPointCloudNavigator(path));
+ complex->setWidth(width);
+ complex->setHeight(height);
+ complex->setTypename(type);
+ return complex;
+ }
- complex->addAcceptedValue(name, value);
- }
+ // Complex type (Position)
+ typenavigator::NavigatorPtr PositionReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_POSITION_MEMBER_TAG);
- return complex;
- }
+ typenavigator::PositionNavigatorPtr complex(new typenavigator::PositionNavigator(path));
+ return complex;
+ }
+
+ // Complex type (Orientation)
+ typenavigator::NavigatorPtr OrientationReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_ORIENTATION_MEMBER_TAG);
+
+ typenavigator::OrientationNavigatorPtr complex(new typenavigator::OrientationNavigator(path));
+ return complex;
+ }
+
+ // Complex type (Pose)
+ typenavigator::NavigatorPtr PoseReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_POSE_MEMBER_TAG);
+
+ typenavigator::PoseNavigatorPtr complex(new typenavigator::PoseNavigator(path));
+ return complex;
+ }
+
+
+
+ // Enum (IntEnum)
+ typenavigator::NavigatorPtr IntEnumReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceAttribute(node, Data::NAME_ATTRIBUTE_NAME);
+ const std::string name = Data::GetAttribute(node, Data::NAME_ATTRIBUTE_NAME);
+
+ bool enum_is_nested = ObjectGenerationStack.size() > 0;
+ if (enum_is_nested)
+ {
+ if (name.rfind("::") != std::string::npos)
+ {
+ throw error::StringNotValidException("IntEnumReaderFactory", "createSpecific", "Namespaces are not allowed in nested enums", name, path);
+ }
+ }
+
+ // set the new object
+ auto aronIntEnumType = std::make_shared<typenavigator::IntEnumNavigator>(path);
+ aronIntEnumType->setEnumName(name);
+
+ auto newEnumInfo = std::make_shared<codegeneratorhelper::GenerateIntEnumInfo>();
+ newEnumInfo->typeName = name;
+ newEnumInfo->correspondingType = aronIntEnumType;
+
+ for (const RapidXmlReaderNode& objectChild : node.nodes())
+ {
+ Data::EnforceTagName(objectChild, Data::ENUM_VALUE_TAG);
+ Data::EnforceChildSize(objectChild, 0);
+
+ Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
+ const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+
+ Data::EnforceAttribute(objectChild, Data::VALUE_ATTRIBUTE_NAME);
+ const std::string value = objectChild.attribute_value(Data::VALUE_ATTRIBUTE_NAME);
+
+ aronIntEnumType->addAcceptedValue(key, std::stoi(value));
+ }
+
+ if (enum_is_nested)
+ {
+ // We are in a local nested class since there is a parent class in stack
+ codegeneratorhelper::GenerateObjectInfoPtr parent = ObjectGenerationStack.top();
+ parent->nestedIntEnums.insert(std::make_pair(simox::alg::to_lower(newEnumInfo->typeName), newEnumInfo));
+ }
+ else
+ {
+ // We are a public top level class. Add to AllPublicObjects
+ AllPublicIntEnums.insert(std::make_pair(simox::alg::to_lower(newEnumInfo->typeName), newEnumInfo));
+ }
+
+ return aronIntEnumType;
+ }
- // Primitve Types
+ // Primitve Types
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- typenavigator::NavigatorPtr upperType##ReaderFactory::createSpecific(const RapidXmlReaderNode&, const Path& path) const \
+ typenavigator::NavigatorPtr upperType##ReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const \
{ \
+ Data::EnforceTagName(node, Data::GENERATE_##capsType##_MEMBER_TAG); \
return typenavigator::NavigatorPtr(new typenavigator::upperType##Navigator(path)); \
}
- HANDLE_PRIMITIVE_TYPES
+ HANDLE_PRIMITIVE_TYPES
#undef RUN_ARON_MACRO
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
index f180d04b16f59f0fbf3af3df240847510174612f..dbed99c551c990aedc4ab7546894ad8049387485 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
@@ -35,6 +35,7 @@
// ArmarX
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
@@ -50,16 +51,18 @@ namespace armarx::aron::xmltypereader
ReaderFactory() = default;
virtual typenavigator::NavigatorPtr create(const RapidXmlReaderNode&, const Path&) const override;
- virtual typenavigator::NavigatorPtr createSpecific(const RapidXmlReaderNode&, const Path&) const override = 0;
-
- static std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr> GetAllKnownGeneratedPublicObjects();
+ virtual typenavigator::NavigatorPtr createSpecific(const RapidXmlReaderNode&, const Path&) const override;
protected:
static typenavigator::NavigatorPtr ResolveTypename(const std::string&);
+ public:
+ static std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr> AllPublicObjects;
+ static std::map<std::string, codegeneratorhelper::GenerateIntEnumInfoPtr> AllPublicIntEnums;
+
protected:
- static std::stack<codegeneratorhelper::GenerateTypeInfoPtr> TheObjectWeAreGoingToGenerateNowStack;
- static std::map<std::string, codegeneratorhelper::GenerateTypeInfoPtr> AllKnownGeneratedPublicObjects;
+ static std::stack<codegeneratorhelper::GenerateObjectInfoPtr> ObjectGenerationStack;
+
};
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
diff --git a/source/RobotAPI/libraries/aron/core/io/Data.h b/source/RobotAPI/libraries/aron/core/io/Data.h
index 87a606af2bb4885019994f03c1d227f3a8ca57f3..6d29388942067854205998b2c0aaef4e4b74a402 100644
--- a/source/RobotAPI/libraries/aron/core/io/Data.h
+++ b/source/RobotAPI/libraries/aron/core/io/Data.h
@@ -40,7 +40,7 @@ namespace armarx::aron::io
public:
// TODO: Remove copy from ReaderWriter
- static constexpr const char* READER_WRITER_OBJECT_NAME_SLUG = "ARON_OBJECT_NAME";
+ static constexpr const char* READER_WRITER_NAME_SLUG = "ARON_NAME";
static constexpr const char* READER_WRITER_DICT_ACCEPTED_TYPE_SLUG = "ARON_DICT_ACCEPTED_TYPE";
static constexpr const char* READER_WRITER_LIST_ACCEPTED_TYPE_SLUG = "ARON_LIST_ACCEPTED_TYPE";
@@ -49,6 +49,10 @@ namespace armarx::aron::io
static constexpr const char* READER_WRITER_NDARRAY_TYPE_SLUG = "ARON_NDARRAY_TYPE";
static constexpr const char* READER_WRITER_NDARRAY_DATA_SLUG = "ARON_NDARRAY_DATA";
+ static constexpr const char* READER_WRITER_INT_ENUM_NAME_SLUG = "ARON_INT_ENUM_NAME";
+ static constexpr const char* READER_WRITER_INT_ENUM_VALUE_SLUG = "ARON_INT_ENUM_VALUE";
+ static constexpr const char* READER_WRITER_ENUM_KEY_SLUG = "ARON_ENUM_KEY";
+
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
static constexpr const char* READER_WRITER_##capsType##_TYPENAME_SLUG = #capsType;
diff --git a/source/RobotAPI/libraries/aron/core/io/ReaderToken.h b/source/RobotAPI/libraries/aron/core/io/ReaderToken.h
index 2551589a98fa27d12ed5e410cc6401c14545ad6d..a6a42098d8a198c7aa1ace6751cce3e7130c4cfa 100644
--- a/source/RobotAPI/libraries/aron/core/io/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/ReaderToken.h
@@ -20,104 +20,3 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/Resolver.h>
-#include <RobotAPI/libraries/aron/core/io/Data.h>
-
-
-namespace armarx::aron::io
-{
- template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
- class ReaderToken;
-
- template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
- using ReaderTokenPtr = std::shared_ptr<ReaderToken<AronDescriptorTypename, ElementReturnPtrTypename, ElementTypename>> ;
-
- template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
- class ReaderToken
- {
- public:
- ReaderToken() = delete;
- ReaderToken(const AronDescriptorTypename& desc, const ElementTypename& e) :
- descriptor(desc), element(e), currentIndex(0), maxIndex(0), currentKey("")
- {
- };
-
- bool checkedAllChildren() const
- {
- return currentIndex >= allKeys.size() && currentIndex >= maxIndex;
- }
-
- AronDescriptorTypename getDescriptor() const
- {
- return descriptor;
- }
-
- unsigned int getChildrenSize() const
- {
- return maxIndex;
- }
-
- void setCurrentKey(const std::string& s)
- {
- if (s.empty())
- {
- throw error::AronException("AronReaderToken", "setCurrentKey", "The passed key is empty.");
- }
- currentKey = s;
- }
-
- virtual bool currentIsEligableForResolvingKey() const = 0;
- std::string resolveCurrentKey() const
- {
- if (!this->currentIsEligableForResolvingKey())
- {
- throw error::AronException("AronReaderToken", "resolveCurrentKey", "Cant get key of token.");
- }
-
- // check outOfBounds
- if (this->currentIndex >= this->maxIndex)
- {
- throw error::SizeNotValidException("AronReaderToken", "resolveCurrentKey", "Index out of bounds.", this->currentIndex, this->maxIndex);
- }
-
- // ugly workaround
- if (this->currentKey == "") // probably in a dict where the caller does not know which keys are there
- {
- if (this->allKeys.size() == 0)
- {
- throw error::AronException("AronReaderToken", "resolveCurrentKey", "The currentKey is not set and the list of all keys is empty!");
- }
- return this->allKeys[this->currentIndex];
- }
- return this->currentKey;
- }
-
-
- virtual ElementReturnPtrTypename getCurrentElement() const = 0;
- ElementReturnPtrTypename getCurrentElementAndIncreaseCnt()
- {
- ElementReturnPtrTypename next = getCurrentElement();
- this->currentIndex++;
- return next;
- }
-
- protected:
- // members
- AronDescriptorTypename descriptor;
- ElementTypename element;
-
- unsigned int currentIndex;
- unsigned int maxIndex;
-
- // dict and object members
- std::string currentKey;
- std::vector<std::string> allKeys;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/io/WriterToken.h b/source/RobotAPI/libraries/aron/core/io/WriterToken.h
index a7f6d5ff8e17420bf0c7af49799719db88fb79d5..dbc013c6efd7bace247c1c2a4a656d3bdd87748c 100644
--- a/source/RobotAPI/libraries/aron/core/io/WriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/WriterToken.h
@@ -19,67 +19,3 @@
*/
#pragma once
-
-// STD/STL
-#include <memory>
-#include <string>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/io/Data.h>
-
-
-namespace armarx::aron::io
-{
- template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
- class WriterToken;
-
- template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
- using WriterTokenPtr = std::shared_ptr<WriterToken<AronDescriptorTypename, ElementTypename, ElementAddTypename>> ;
-
- template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
- class WriterToken
- {
- public:
- WriterToken() = delete;
- WriterToken(const AronDescriptorTypename& desc, const ElementTypename& e) :
- descriptor(desc), element(e), currentIndex(0), currentKey("")
- {
- };
-
- // virtual definitions
- virtual void addElement(const ElementAddTypename&) = 0;
- virtual std::string toElementAccessor() const = 0;
-
- void setCurrentKey(const std::string& s)
- {
- if (s.empty())
- {
- throw error::AronException("AronWriterToken", "setCurrentKey", "The passed key is empty.");
- }
- currentKey = s;
- }
-
- virtual ElementTypename getElement() const
- {
- return element;
- }
-
- virtual AronDescriptorTypename getDescriptor() const
- {
- return descriptor;
- }
-
- protected:
- // members
- AronDescriptorTypename descriptor;
- ElementTypename element;
-
- // current index
- unsigned int currentIndex;
-
- // current key
- std::string currentKey;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
index d74d23b4cc8cf0f9a5c51d2dcbb07b01d3d18d10..7df44a015c8f93f531e1e54c8dd2524ae98308d6 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
@@ -31,46 +31,39 @@
namespace armarx::aron::dataIO
{
- class Reader;
- typedef std::shared_ptr<Reader> AronDataReaderPtr;
+ class ReaderInterface;
+ typedef std::shared_ptr<ReaderInterface> ReaderInterfacePtr;
- class Reader
- {
- public:
- Reader() = default;
+ class ReaderInterface
+ {
+ public:
+ virtual int readStartDict() = 0;
+ virtual bool readEndDict() = 0;
+ virtual int readStartList() = 0;
+ virtual bool readEndList() = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual int readStart##upperType() = 0; \
- virtual bool readEnd##upperType() = 0; \
+ virtual std::tuple<std::vector<int>, std::string> readStartNDArray() = 0;
+ virtual bool readEndNDArray(unsigned char*) = 0;
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
+ virtual void readPrimitive(int&) = 0;
+ virtual void readPrimitive(long&) = 0;
+ virtual void readPrimitive(float&) = 0;
+ virtual void readPrimitive(double&) = 0;
+ virtual void readPrimitive(std::string&) = 0;
+ virtual void readPrimitive(bool&) = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual std::pair<std::vector<int>, std::string> readStart##upperType() = 0; \
- virtual void readEnd##upperType(unsigned char*) = 0; \
+ template<class T>
+ T readPrimitive()
+ {
+ T p;
+ readPrimitive(p);
+ return p;
+ }
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ virtual std::string readKey() = 0;
+ virtual void loadMember(const std::string&) = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual void readPrimitive(lowerType&) = 0; \
-
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
-
- template<class T>
- T readPrimitive()
- {
- T p;
- readPrimitive(p);
- return p;
- }
-
- virtual std::string readKey() = 0;
- virtual bool readKey(const std::string&) = 0;
-
- // Helper functions
- virtual data::Descriptor getTypeOfNextAron(const type::Descriptor) const = 0;
- };
+ // Helper functions
+ virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::eUnknown) const = 0;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.h
index 449909b2c2a5e820ebf7386f187003d4d6746734..89aca64073cc652b2a72d3da62b7ce0a7c3e76d9 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Writer.h
@@ -32,33 +32,26 @@
namespace armarx::aron::dataIO
{
- class Writer;
- typedef std::shared_ptr<Writer> WriterPtr;
-
- class Writer
- {
- public:
- Writer() = default;
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() = 0; \
- virtual bool writeEnd##upperType() = 0;
-
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType(const std::vector<int>&, const std::string&, const unsigned char*) = 0;
-
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writePrimitive(const lowerType&) = 0;
-
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
-
- virtual bool writeKey(const std::string&) = 0;
- };
+ class WriterInterface;
+ typedef std::shared_ptr<WriterInterface> WriterInterfacePtr;
+
+ class WriterInterface
+ {
+ public:
+ virtual void writeStartDict() = 0;
+ virtual void writeEndDict() = 0;
+ virtual void writeStartList() = 0;
+ virtual void writeEndList() = 0;
+
+ virtual void writeNDArray(const std::vector<int>&, const std::string&, const unsigned char*) = 0;
+
+ virtual void writePrimitive(int) = 0;
+ virtual void writePrimitive(long) = 0;
+ virtual void writePrimitive(float) = 0;
+ virtual void writePrimitive(double) = 0;
+ virtual void writePrimitive(const std::string&) = 0;
+ virtual void writePrimitive(bool) = 0;
+
+ virtual void writeKey(const std::string&) = 0;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
index bfd7804b3618e13cfe3543dc76c30e581673d62b..13b6703cd69bffe9e6c8f89cf4164ada98649bc0 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
@@ -30,71 +30,71 @@
namespace armarx::aron::dataIO
+{
+ void Converter::ConvertFromReader(ReaderInterface& reader, WriterInterface& writer, const aron::typenavigator::NavigatorPtr& expectedStructure)
+ {
+ type::Descriptor t_desc = expectedStructure != nullptr ? expectedStructure->getDescriptor() : type::eUnknown;
+ data::Descriptor desc = reader.getTypeOfNext(t_desc);
+ switch (desc)
{
- void Converter::ConvertFromReader(Reader& reader, dataIO::Writer& writer, const aron::typenavigator::NavigatorPtr& expectedStructure)
+ case data::eDict:
{
- type::Descriptor t_desc = expectedStructure != nullptr ? expectedStructure->getDescriptor() : type::eUnknown;
- data::Descriptor desc = reader.getTypeOfNextAron(t_desc);
- switch (desc)
+ int elements = reader.readStartDict();
+ writer.writeStartDict();
+
+ typenavigator::NavigatorPtr childType = nullptr;
+ if (t_desc == type::eDict)
{
- case data::eDict:
+ auto t = typenavigator::DictNavigator::DynamicCast(expectedStructure);
+ childType = t->getAcceptedType();
+ }
+
+ for (int i = 0; i < elements; ++i)
{
- int elements = reader.readStartDict();
- writer.writeStartDict();
+ std::string key = reader.readKey();
+ writer.writeKey(key);
- typenavigator::NavigatorPtr childType = nullptr;
- if (t_desc == type::eDict)
+ if (t_desc == type::eObject)
{
- auto t = typenavigator::DictNavigator::DynamicCast(expectedStructure);
- childType = t->getAcceptedType();
+ auto t = typenavigator::ObjectNavigator::DynamicCast(expectedStructure);
+ childType = t->getMemberType(key);
}
- for (int i = 0; i < elements; ++i)
- {
- std::string key = reader.readKey();
- writer.writeKey(key);
+ Converter::ConvertFromReader(reader, writer, childType);
+ }
- if (t_desc == type::eObject)
- {
- auto t = typenavigator::ObjectNavigator::DynamicCast(expectedStructure);
- childType = t->getMemberType(key);
- }
+ writer.writeEndDict();
+ reader.readEndDict();
- Converter::ConvertFromReader(reader, writer, childType);
- }
-
- writer.writeEndDict();
- reader.readEndDict();
+ break;
+ }
+ case data::eList:
+ {
+ int elements = reader.readStartList();
+ writer.writeStartList();
- break;
- }
- case data::eList:
+ typenavigator::NavigatorPtr childType = nullptr;
+ if (t_desc == type::eList)
{
- int elements = reader.readStartList();
- writer.writeStartList();
-
- typenavigator::NavigatorPtr childType = nullptr;
- if (t_desc == type::eList)
- {
- auto t = typenavigator::ListNavigator::DynamicCast(expectedStructure);
- childType = t->getAcceptedType();
- }
+ auto t = typenavigator::ListNavigator::DynamicCast(expectedStructure);
+ childType = t->getAcceptedType();
+ }
- for (int i = 0; i < elements; ++i)
+ for (int i = 0; i < elements; ++i)
+ {
+ if (t_desc == type::eObject)
{
- if (t_desc == type::eObject)
- {
- auto t = typenavigator::TupleNavigator::DynamicCast(expectedStructure);
- childType = t->getAcceptedType(i);
- }
-
- Converter::ConvertFromReader(reader, writer, childType);
+ auto t = typenavigator::TupleNavigator::DynamicCast(expectedStructure);
+ childType = t->getAcceptedType(i);
}
- writer.writeEndList();
- reader.readEndList();
- break;
+ Converter::ConvertFromReader(reader, writer, childType);
}
+
+ writer.writeEndList();
+ reader.readEndList();
+ break;
+ }
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
case data::e##upperType: \
{ \
@@ -107,7 +107,7 @@ case data::e##upperType: \
break; \
}
- HANDLE_COMPLEX_DATA
+ HANDLE_COMPLEX_DATA
#undef RUN_ARON_MACRO
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
@@ -118,13 +118,13 @@ case data::e##upperType: \
break; \
}
- HANDLE_PRIMITIVE_DATA
+ HANDLE_PRIMITIVE_DATA
#undef RUN_ARON_MACRO
- default:
- {
- throw error::DescriptorNotValidException("LegacyAronDataReader", "SetupReaderAndGetResult", "Data-Type could not be resolved", desc);
- }
- }
+ default:
+ {
+ throw error::DescriptorNotValidException("LegacyAronDataReader", "SetupReaderAndGetResult", "Data-Type could not be resolved", desc);
}
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h
index 74d1363b1aeaed620b01a351c7924f0aea003b79..d51d81761b764d5616bb70e5cefd67dd105987bd 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h
@@ -43,7 +43,6 @@ namespace armarx::aron::dataIO
Converter() = delete;
public:
- static void ConvertFromReader(dataIO::Reader&, dataIO::Writer&, const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
- public:
+ static void ConvertFromReader(ReaderInterface&, WriterInterface&, const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h
index 2cd749a1f5109d4a059d6b2f0076fe5f8c1ce3a5..dbc013c6efd7bace247c1c2a4a656d3bdd87748c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h
@@ -19,67 +19,3 @@
*/
#pragma once
-
-// STD/STL
-#include <memory>
-#include <string>
-#include <stack>
-
-// Base Class
-#include <RobotAPI/libraries/aron/core/io/dataIO/Reader.h>
-
-
-
-namespace armarx::aron::dataIO
-{
- template <typename InputTypename, typename TokenPtrTypename>
- class TokenizedReader;
-
- template <typename InputTypename, typename TokenPtrTypename>
- using TokenizedReaderPtr = std::shared_ptr<TokenizedReader<InputTypename, TokenPtrTypename>>;
-
- template <typename InputTypename, typename TokenPtrTypename>
- class TokenizedReader :
- virtual public Reader
- {
- public:
- TokenizedReader() = delete;
- TokenizedReader(const InputTypename& input) :
- data(input)
- {
- }
-
- // ReadKey
- std::string readKey() override
- {
- TokenPtrTypename token = stack.top();
- std::string k = token->resolveCurrentKey();
- return k;
- }
-
- bool readKey(const std::string& k) override
- {
- TokenPtrTypename token = stack.top();
- token->setCurrentKey(k);
- return true;
- }
-
- data::Descriptor getTypeOfNextAron(const type::Descriptor hint) const override
- {
- if (stack.empty())
- {
- // completely unknown. We assume a dict on the top level
- return data::Descriptor::eDict;
- }
-
- TokenPtrTypename lastToken = stack.top();
- return lastToken->getTypeOfNextElement(hint);
- }
-
-
- protected:
- InputTypename data;
- bool readInitialStart = false;
- std::stack<TokenPtrTypename> stack;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
index a3c2be81ebdcfe3cbcc08fa54d0336d1ef518ff8..07cd3ef344f4226ea250733706f164d63c7481ee 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
@@ -29,42 +29,102 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Descriptor.h>
-
-
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/io/Data.h>
namespace armarx::aron::dataIO
{
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- class ReaderToken;
+ template<typename ElementTypename>
+ class ReaderTokenInterface;
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- using ReaderTokenPtr = std::shared_ptr<ReaderToken<ElementReturnPtrTypename, ElementAddTypename>>;
+ template<typename ElementTypename>
+ using ReaderTokenInterfacePtr = std::shared_ptr<ReaderTokenInterface<ElementTypename>>;
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- class ReaderToken :
- virtual public io::ReaderToken<data::Descriptor, ElementReturnPtrTypename, ElementAddTypename>
+ template<typename ElementTypename>
+ class ReaderTokenInterface
{
public:
- using PointerType = ReaderTokenPtr<ElementReturnPtrTypename, ElementAddTypename>;
+ using PointerType = ReaderTokenInterfacePtr<ElementTypename>;
- public:
- // constructors
- ReaderToken() = delete;
- ReaderToken(const data::Descriptor desc, const ElementAddTypename& data) :
- io::ReaderToken<data::Descriptor, ElementReturnPtrTypename, ElementAddTypename>(desc, data)
- { }
- bool currentIsEligableForResolvingKey() const override
+ // Interface
+ virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::eUnknown) const = 0;
+ virtual ElementTypename getNextElement() const = 0;
+
+ // General implementation
+ ElementTypename getElement() const
+ {
+ return element;
+ }
+
+ data::Descriptor getDescriptor() const
+ {
+ return descriptor;
+ }
+
+ unsigned int getElementChildrenSize() const
{
- if (this->descriptor == data::Descriptor::eDict)
+ return childrenSize;
+ }
+
+ bool finishedElement() const
+ {
+ return currentIndex >= getElementChildrenSize();
+ }
+
+ std::string getCurrentKey() const
+ {
+ assertIndexInBounds();
+
+ // ugly workaround
+ if (this->currentKey == "") // probably in a dict where the caller does not know which keys are there
{
- return true;
+ if (this->allMemberNames.size() == 0)
+ {
+ throw error::AronException("dataIO::ReaderTokenInterface", "getCurrentKey", "The currentKey is not set and the list of all keys is empty!");
+ }
+ return this->allMemberNames[this->currentIndex];
}
- return false;
+ return this->currentKey;
}
- virtual data::Descriptor getTypeOfNextElement(const type::Descriptor) const = 0;
- private:
+ void setCurrentKey(const std::string& s)
+ {
+ currentKey = s;
+ }
+
+ void assertType(data::Descriptor t) const
+ {
+ if (getDescriptor() != t)
+ {
+ throw error::DescriptorNotValidException("dataIO::ReaderTokenInterface", "assertType", "The type was not equal.", t);
+ }
+ }
+
+ void assertIndexInBounds() const
+ {
+ if (this->currentIndex >= getElementChildrenSize())
+ {
+ throw error::SizeNotValidException("dataIO::ReaderTokenInterface", "assertIndexInBounds", "Index out of bounds.", this->currentIndex, getElementChildrenSize());
+ }
+ }
+
+ ElementTypename getNextElementAndIncreaseCnt()
+ {
+ ElementTypename next = getNextElement();
+ this->currentIndex++;
+ return next;
+ }
+
+ protected:
+ // members
+ data::Descriptor descriptor = data::eUnknown;
+ ElementTypename element;
+
+ unsigned int childrenSize = 0;
+ unsigned int currentIndex = 0;
+
+ std::string currentKey = "";
+ std::vector<std::string> allMemberNames = {};
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
index 56506642ae73fcc5a3518dc86f85d7cae2248e50..aa5d3d14864aff4fd5d86b8cfc47b06a81cc0200 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
@@ -33,110 +33,166 @@
namespace armarx::aron::dataIO::reader
+{
+ NavigatorReader::NavigatorReader(const datanavigator::NavigatorPtr& n) :
+ input(n)
+ {
+ }
+
+ NavigatorReader::NavigatorReader(const data::AronDataPtr& n) :
+ input(datanavigator::Navigator::FromAronData(n))
+ {
+ }
+
+ datanavigator::NavigatorPtr NavigatorReader::getNextAndIncrease()
+ {
+ if (!readInitialStart)
+ {
+ readInitialStart = true;
+ return input;
+ }
+ auto lastToken = stack.top();
+ return lastToken->getNextElementAndIncreaseCnt();
+ }
+
+ datanavigator::NavigatorPtr NavigatorReader::getNext()
+ {
+ if (!readInitialStart)
+ {
+ readInitialStart = true;
+ return input;
+ }
+ auto lastToken = stack.top();
+ return lastToken->getNextElement();
+ }
+
+ // Containers
+ int NavigatorReader::readStartDict()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = datanavigator::DictNavigator::DynamicCastAndCheck(current_nav);
+ int c = current_nav->childrenSize();
+ auto newToken = std::make_shared<NavigatorReaderToken>(data::eDict, current_nav_casted);
+ stack.push(newToken);
+ return c;
+ }
+
+ bool NavigatorReader::readEndDict()
+ {
+ auto token = stack.top();
+ datanavigator::DictNavigator::DynamicCastAndCheck(token->getElement());
+
+ if (token->finishedElement())
{
- NavigatorReader::NavigatorReader(const datanavigator::NavigatorPtr& n) :
- TokenizedReader<datanavigator::NavigatorPtr, NavigatorReaderTokenPtr>(n)
- {
- }
-
- NavigatorReader::NavigatorReader(const data::AronDataPtr& n) :
- TokenizedReader<datanavigator::NavigatorPtr, NavigatorReaderTokenPtr>(datanavigator::Navigator::FromAronData(n))
- {
- }
-
- datanavigator::NavigatorPtr NavigatorReader::getCurrentAndGoToNext()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return data;
- }
- auto lastToken = stack.top();
- return lastToken->getCurrentElementAndIncreaseCnt();
- }
-
- datanavigator::NavigatorPtr NavigatorReader::getCurrent()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return data;
- }
- auto lastToken = stack.top();
- return lastToken->getCurrentElement();
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- int NavigatorReader::readStart##upperType() \
- { \
- datanavigator::NavigatorPtr current_nav = getCurrentAndGoToNext(); \
- auto desc = current_nav->getDescriptor(); \
- if (desc != data::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NavigatorReader", "readStart" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
- return false; \
- } \
- datanavigator::upperType##NavigatorPtr current_nav_casted = datanavigator::upperType##Navigator::DynamicCast(current_nav); \
- int c = current_nav->childrenSize(); \
- NavigatorReaderTokenPtr newToken = NavigatorReaderTokenPtr(new NavigatorReaderToken(current_nav->getDescriptor(), current_nav_casted)); \
- stack.push(newToken); \
- return c; \
- } \
- \
- bool NavigatorReader::readEnd##upperType() \
- { \
- NavigatorReaderTokenPtr token = stack.top(); \
- auto desc = token->getDescriptor(); \
- if (desc != data::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NavigatorReader", "readEnd" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
- return false; \
- } \
- \
- if (token->checkedAllChildren()) \
- { \
- stack.pop(); \
- return true; \
- } \
- return false; \
- }
-
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
-
- // Complex Data
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- std::pair<std::vector<int>, std::string> NavigatorReader::readStart##upperType() \
- { \
- datanavigator::NavigatorPtr nav = getCurrent(); \
- datanavigator::NDArrayNavigatorPtr casted = datanavigator::NDArrayNavigator::DynamicCast(nav); \
- return std::make_pair(casted->getDimensions(), casted->getType()); \
- } \
- \
- void NavigatorReader::readEnd##upperType(unsigned char* data) \
- { \
- if(data == NULL) \
- { \
- throw error::AronException("NavigatorReader", "readEnd" + std::string(#upperType), "The corresponding data pointer of an complex aron ptr is NULL."); \
- } \
- datanavigator::NavigatorPtr nav = getCurrentAndGoToNext(); \
- datanavigator::NDArrayNavigatorPtr casted = datanavigator::NDArrayNavigator::DynamicCast(nav); \
- std::vector<int> dims = casted->getDimensions(); \
- memcpy(data, casted->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>())); \
- }
-
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
-
- // Read primitives
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- void NavigatorReader::readPrimitive(lowerType& t) \
- { \
- datanavigator::NavigatorPtr nav = getCurrentAndGoToNext(); \
- datanavigator::upperType##NavigatorPtr casted = datanavigator::upperType##Navigator::DynamicCast(nav); \
- t = casted->getValue(); \
- }
-
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ int NavigatorReader::readStartList()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = datanavigator::ListNavigator::DynamicCastAndCheck(current_nav);
+ int c = current_nav->childrenSize();
+ auto newToken = std::make_shared<NavigatorReaderToken>(data::eList, current_nav_casted);
+ stack.push(newToken);
+ return c;
+ }
+
+ bool NavigatorReader::readEndList()
+ {
+ auto token = stack.top();
+ datanavigator::ListNavigator::DynamicCastAndCheck(token->getElement());
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ // Complex Data
+ std::tuple<std::vector<int>, std::string> NavigatorReader::readStartNDArray()
+ {
+ datanavigator::NavigatorPtr nav = getNext();
+ datanavigator::NDArrayNavigatorPtr casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(nav);
+ return {casted->getDimensions(), casted->getType()};
+ }
+
+ bool NavigatorReader::readEndNDArray(unsigned char* data)
+ {
+ if (data == NULL)
+ {
+ throw error::AronException("NavigatorReader", "readEndNDArray", "The corresponding data pointer of an complex aron ptr is NULL.");
+ }
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(nav);
+ std::vector<int> dims = casted->getDimensions();
+ memcpy(data, casted->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+ return true;
+ }
+
+ // Read primitives
+ void NavigatorReader::readPrimitive(int& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::IntNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ void NavigatorReader::readPrimitive(long& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::LongNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ void NavigatorReader::readPrimitive(float& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::FloatNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ void NavigatorReader::readPrimitive(double& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::DoubleNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ void NavigatorReader::readPrimitive(std::string& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::StringNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ void NavigatorReader::readPrimitive(bool& t)
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = datanavigator::BoolNavigator::DynamicCastAndCheck(nav);
+ t = casted->getValue();
+ }
+
+ std::string NavigatorReader::readKey()
+ {
+ auto token = stack.top();
+ return token->getCurrentKey();
+ }
+
+ void NavigatorReader::loadMember(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
+
+ // Helper functions
+ data::Descriptor NavigatorReader::getTypeOfNext(const type::Descriptor hint) const
+ {
+ auto token = stack.top();
+ return token->getTypeOfNext(hint);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
index 3aa6b49d5c34ed30854a0664230685342b07d1a4..0bcc56b7bdc6e22775fc2d4345e1f9715e942d1f 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
@@ -25,7 +25,7 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/Reader.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/navigator/data/Navigator.h>
@@ -38,41 +38,43 @@ namespace armarx::aron::dataIO::reader
typedef std::shared_ptr<NavigatorReader> NavigatorReaderPtr;
class NavigatorReader :
- virtual public TokenizedReader<datanavigator::NavigatorPtr, NavigatorReaderTokenPtr>
+ virtual public ReaderInterface
{
public:
using PointerType = NavigatorReaderPtr;
- public:
// constructors
NavigatorReader() = delete;
NavigatorReader(const datanavigator::NavigatorPtr& n);
NavigatorReader(const data::AronDataPtr& n);
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual int readStart##upperType() override; \
-virtual bool readEnd##upperType() override; \
-
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
+ virtual int readStartDict() override;
+ virtual bool readEndDict() override;
+ virtual int readStartList() override;
+ virtual bool readEndList() override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual std::pair<std::vector<int>, std::string> readStart##upperType() override; \
-virtual void readEnd##upperType(unsigned char*) override; \
+ virtual std::tuple<std::vector<int>, std::string> readStartNDArray() override;
+ virtual bool readEndNDArray(unsigned char*) override;
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ virtual void readPrimitive(int&) override;
+ virtual void readPrimitive(long&) override;
+ virtual void readPrimitive(float&) override;
+ virtual void readPrimitive(double&) override;
+ virtual void readPrimitive(std::string&) override;
+ virtual void readPrimitive(bool&) override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual void readPrimitive(lowerType&) override; \
+ virtual std::string readKey() override;
+ virtual void loadMember(const std::string&) override;
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::eUnknown) const override;
private:
- datanavigator::NavigatorPtr getCurrent();
- datanavigator::NavigatorPtr getCurrentAndGoToNext();
+ datanavigator::NavigatorPtr getNext();
+ datanavigator::NavigatorPtr getNextAndIncrease();
private:
+ datanavigator::NavigatorPtr input;
+ bool readInitialStart = false;
+ std::stack<NavigatorReaderTokenPtr> stack;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
index 4157ecba745dda7709f4efbf7f6181d2603a4f63..2efb3352f203d93fa0b647ea318affea7d41b4fd 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
@@ -38,7 +38,7 @@ namespace armarx::aron::dataIO::reader
typedef std::shared_ptr<NavigatorReaderToken> NavigatorReaderTokenPtr;
class NavigatorReaderToken :
- virtual public ReaderToken<datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>
+ virtual public ReaderTokenInterface<datanavigator::NavigatorPtr>
{
public:
using PointerType = NavigatorReaderTokenPtr;
@@ -46,21 +46,22 @@ namespace armarx::aron::dataIO::reader
public:
// constructors
NavigatorReaderToken() = delete;
- NavigatorReaderToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& data) :
- io::ReaderToken<data::Descriptor, datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>(desc, data),
- ReaderToken<datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>(desc, data)
+ NavigatorReaderToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& data)
{
+ descriptor = desc;
+ element = data;
+
switch (descriptor)
{
case data::Descriptor::eDict:
{
- allKeys = datanavigator::DictNavigator::DynamicCastAndCheck(data)->getAllKeys();
- maxIndex = allKeys.size();
+ allMemberNames = datanavigator::DictNavigator::DynamicCastAndCheck(data)->getAllKeys();
+ childrenSize = data->childrenSize();
break;
}
case data::Descriptor::eList:
{
- maxIndex = datanavigator::ListNavigator::DynamicCastAndCheck(data)->childrenSize();
+ childrenSize = data->childrenSize();
break;
}
default:
@@ -68,20 +69,20 @@ namespace armarx::aron::dataIO::reader
}
}
- data::Descriptor getTypeOfNextElement(const type::Descriptor) const override
+ data::Descriptor getTypeOfNext(const type::Descriptor hint = type::eUnknown) const override
{
- const datanavigator::NavigatorPtr next = getCurrentElement();
+ const datanavigator::NavigatorPtr next = getNextElement();
return next->getDescriptor();
}
- datanavigator::NavigatorPtr getCurrentElement() const override
+ datanavigator::NavigatorPtr getNextElement() const override
{
switch (descriptor)
{
case data::Descriptor::eDict:
{
datanavigator::DictNavigatorPtr casted = datanavigator::DictNavigator::DynamicCast(element);
- datanavigator::NavigatorPtr ret = casted->getElement(resolveCurrentKey());
+ datanavigator::NavigatorPtr ret = casted->getElement(getCurrentKey());
return ret;
}
case data::Descriptor::eList:
@@ -96,5 +97,6 @@ namespace armarx::aron::dataIO::reader
}
private:
+
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 2ac1b5462137df5bf1e8f29f4c8683dfed20b6e0..9b15c88280210b4e9b2e583ba7439d87e68909d9 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -33,103 +33,158 @@
namespace armarx::aron::dataIO::reader
+{
+ NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
+ input(n)
+ {
+ }
+
+ NlohmannJSONReader::NlohmannJSONReader(const std::string& n) :
+ input(nlohmann::json::parse(n))
+ {
+ }
+
+ nlohmann::json NlohmannJSONReader::getNextAndIncrease()
+ {
+ if (!readInitialStart)
+ {
+ readInitialStart = true;
+ return input;
+ }
+ NlohmannJSONReaderTokenPtr lastToken = stack.top();
+ return lastToken->getNextElementAndIncreaseCnt();
+ }
+
+ nlohmann::json NlohmannJSONReader::getNext()
+ {
+ if (!readInitialStart)
+ {
+ readInitialStart = true;
+ return input;
+ }
+ NlohmannJSONReaderTokenPtr lastToken = stack.top();
+ return lastToken->getNextElement();
+ }
+
+ int NlohmannJSONReader::readStartDict()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ int c = current_json.size();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::eDict, current_json);
+ stack.push(newToken);
+ return c;
+ }
+
+ bool NlohmannJSONReader::readEndDict()
+ {
+ auto token = stack.top();
+ token->assertType(data::eDict);
+
+ if (token->finishedElement())
{
- NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
- TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>(n)
- {
- }
-
- NlohmannJSONReader::NlohmannJSONReader(const std::string& n) :
- TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>(nlohmann::json::parse(n))
- {
- }
-
- nlohmann::json NlohmannJSONReader::getCurrentAndGoToNext()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return data;
- }
- NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElementAndIncreaseCnt();
- }
-
- nlohmann::json NlohmannJSONReader::getCurrent()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return data;
- }
- NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElement();
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- int NlohmannJSONReader::readStart##upperType() \
- { \
- nlohmann::json current_json = getCurrentAndGoToNext(); \
- int c = current_json.size(); \
- NlohmannJSONReaderTokenPtr newToken = NlohmannJSONReaderTokenPtr(new NlohmannJSONReaderToken(data::e##upperType, current_json)); \
- stack.push(newToken); \
- return c; \
- } \
- \
- bool NlohmannJSONReader::readEnd##upperType() \
- { \
- NlohmannJSONReaderTokenPtr token = stack.top(); \
- auto desc = token->getDescriptor(); \
- if (desc != data::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NlohmannJSONReader", "readEnd" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
- return false; \
- } \
- \
- if (token->checkedAllChildren()) \
- { \
- stack.pop(); \
- return true; \
- } \
- return false; \
- }
-
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
-
- // Complex Data
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- std::pair<std::vector<int>, std::string> NlohmannJSONReader::readStart##upperType() \
- { \
- nlohmann::json j = getCurrent(); \
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG]; \
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG]; \
- return std::make_pair(dims, type); \
- } \
- \
- void NlohmannJSONReader::readEnd##upperType(unsigned char* data) \
- { \
- if(data == NULL) \
- { \
- throw error::AronException("NlohmannJSONReader", "readEnd" + std::string(#upperType), "The corresponding data pointer of an complex aron ptr is NULL."); \
- } \
- nlohmann::json j = getCurrentAndGoToNext(); \
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG]; \
- std::vector<unsigned char> d = j[io::Data::READER_WRITER_NDARRAY_DATA_SLUG]; \
- memcpy(data, d.data(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>())); \
- }
-
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
-
- // Read primitives
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- void NlohmannJSONReader::readPrimitive(lowerType& t) \
- { \
- nlohmann::json j = getCurrentAndGoToNext(); \
- t = j; \
- }
-
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ int NlohmannJSONReader::readStartList()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ int c = current_json.size();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::eList, current_json);
+ stack.push(newToken);
+ return c;
+ }
+
+ bool NlohmannJSONReader::readEndList()
+ {
+ auto token = stack.top();
+ token->assertType(data::eList);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ // Complex Data
+ std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readStartNDArray()
+ {
+ nlohmann::json j = getNext();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return {dims, type};
+ }
+
+ bool NlohmannJSONReader::readEndNDArray(unsigned char* data)
+ {
+ if (data == NULL)
+ {
+ throw error::AronException("NlohmannJSONReader", "readEndNDArray", "The corresponding data pointer of an complex aron ptr is NULL.");
+ }
+ nlohmann::json j = getNextAndIncrease();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::vector<unsigned char> d = j[io::Data::READER_WRITER_NDARRAY_DATA_SLUG];
+ memcpy(data, d.data(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+ return true;
+ }
+
+ // Read primitives
+ void NlohmannJSONReader::readPrimitive(int& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ void NlohmannJSONReader::readPrimitive(long& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ void NlohmannJSONReader::readPrimitive(float& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ void NlohmannJSONReader::readPrimitive(double& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ void NlohmannJSONReader::readPrimitive(std::string& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ void NlohmannJSONReader::readPrimitive(bool& t)
+ {
+ nlohmann::json j = getNextAndIncrease();
+ t = j;
+ }
+
+ std::string NlohmannJSONReader::readKey()
+ {
+ auto token = stack.top();
+ return token->getCurrentKey();
+ }
+
+ void NlohmannJSONReader::loadMember(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
+
+ // Helper functions
+ data::Descriptor NlohmannJSONReader::getTypeOfNext(const type::Descriptor hint) const
+ {
+ auto token = stack.top();
+ return token->getTypeOfNext(hint);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
index 0b48fe229b1dca5034c618d211153e3b09ccacd5..1ca1810a0c3085e4d53b7a79c934dc1eaa7e1e25 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -25,7 +25,7 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/Reader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/Reader.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h>
@@ -36,41 +36,43 @@ namespace armarx::aron::dataIO::reader
typedef std::shared_ptr<NlohmannJSONReader> NlohmannJSONReaderPtr;
class NlohmannJSONReader :
- virtual public TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>
+ virtual public ReaderInterface
{
public:
using PointerType = NlohmannJSONReaderPtr;
- public:
// constructors
NlohmannJSONReader() = delete;
NlohmannJSONReader(const nlohmann::json& n);
NlohmannJSONReader(const std::string& n);
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual int readStart##upperType() override; \
-virtual bool readEnd##upperType() override; \
-
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
+ virtual int readStartDict() override;
+ virtual bool readEndDict() override;
+ virtual int readStartList() override;
+ virtual bool readEndList() override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual std::pair<std::vector<int>, std::string> readStart##upperType() override; \
-virtual void readEnd##upperType(unsigned char*) override; \
+ virtual std::tuple<std::vector<int>, std::string> readStartNDArray() override;
+ virtual bool readEndNDArray(unsigned char*) override;
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ virtual void readPrimitive(int&) override;
+ virtual void readPrimitive(long&) override;
+ virtual void readPrimitive(float&) override;
+ virtual void readPrimitive(double&) override;
+ virtual void readPrimitive(std::string&) override;
+ virtual void readPrimitive(bool&) override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-virtual void readPrimitive(lowerType&) override; \
+ virtual std::string readKey() override;
+ virtual void loadMember(const std::string&) override;
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::eUnknown) const override;
private:
- nlohmann::json getCurrent();
- nlohmann::json getCurrentAndGoToNext();
+ nlohmann::json getNext();
+ nlohmann::json getNextAndIncrease();
private:
+ nlohmann::json input;
+ bool readInitialStart = false;
+ std::stack<NlohmannJSONReaderTokenPtr> stack;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
index 5148357520ed5cec05869ed76d9afaf9ec214fcb..d155a2d155027ad03f16a359a903da88dae6776c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
@@ -34,39 +34,41 @@
#include <RobotAPI/libraries/aron/core/Config.h>
#include <RobotAPI/libraries/aron/core/Resolver.h>
+
+
namespace armarx::aron::dataIO::reader
- {
+{
// BaseClass
class NlohmannJSONReaderToken;
typedef std::shared_ptr<NlohmannJSONReaderToken> NlohmannJSONReaderTokenPtr;
class NlohmannJSONReaderToken :
- virtual public ReaderToken<nlohmann::json, nlohmann::json>
+ virtual public ReaderTokenInterface<nlohmann::json>
{
public:
using PointerType = NlohmannJSONReaderTokenPtr;
- public:
// constructors
NlohmannJSONReaderToken() = delete;
- NlohmannJSONReaderToken(const data::Descriptor desc, const nlohmann::json& data) :
- io::ReaderToken<data::Descriptor, nlohmann::json, nlohmann::json>(desc, data),
- ReaderToken<nlohmann::json, nlohmann::json>(desc, data)
+ NlohmannJSONReaderToken(const data::Descriptor desc, const nlohmann::json& data)
{
+ descriptor = desc;
+ element = data;
+
switch (descriptor)
{
case data::eDict:
{
for (auto it = data.begin(); it != data.end(); ++it)
{
- allKeys.push_back(it.key());
+ allMemberNames.push_back(it.key());
}
- maxIndex = allKeys.size();
+ childrenSize = data.size();
break;
}
case data::eList:
{
- maxIndex = data.size();
+ childrenSize = data.size();
break;
}
default:
@@ -74,9 +76,9 @@ namespace armarx::aron::dataIO::reader
}
}
- data::Descriptor getTypeOfNextElement(const type::Descriptor hint) const override
+ data::Descriptor getTypeOfNext(const type::Descriptor hint) const override
{
- const nlohmann::json next = getCurrentElement();
+ const nlohmann::json next = getNextElement();
if (next.is_object())
{
// Check if specific NDArray key exists
@@ -94,15 +96,15 @@ namespace armarx::aron::dataIO::reader
{
data::Descriptor d = Resolver::GetFirstIfRelated(
- Resolver::GetCorresponding(hint),
- data::eLong);
+ Resolver::GetCorresponding(hint),
+ data::eLong);
return d;
}
if (next.is_number_float())
{
data::Descriptor d = Resolver::GetFirstIfRelated(
- Resolver::GetCorresponding(hint),
- data::eDouble);
+ Resolver::GetCorresponding(hint),
+ data::eDouble);
return d;
}
if (next.is_boolean())
@@ -116,13 +118,13 @@ namespace armarx::aron::dataIO::reader
throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Could not convert to data::Descriptor enum.");
}
- nlohmann::json getCurrentElement() const override
+ nlohmann::json getNextElement() const override
{
switch (descriptor)
{
case data::eDict:
{
- nlohmann::json ret = element[resolveCurrentKey()];
+ nlohmann::json ret = element[getCurrentKey()];
return ret;
}
case data::eList:
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
index 7b756f8d24238b4655348607346c1f1d6e650f71..9f2dd3cd6e470c72698aae1c5c0bdcd948194e53 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
@@ -31,67 +31,87 @@
namespace armarx::aron::dataIO
- {
+{
+
+ void Visitor::SetupWriterFromAronDataPtr(WriterInterface& writer, const datanavigator::NavigatorPtr& aron)
+ {
+ SetupWriterFromAronDataPtr(writer, aron->getResult());
+ }
- void Visitor::SetupWriterFromAronDataPtr(dataIO::Writer& writer, const datanavigator::NavigatorPtr& aron)
+ void Visitor::SetupWriterFromAronDataPtr(WriterInterface& writer, const data::AronDataPtr& aron)
+ {
+ data::Descriptor desc = Resolver::GetDescriptor(aron);
+ switch (desc)
+ {
+ case data::eDict:
{
- SetupWriterFromAronDataPtr(writer, aron->getResult());
+ data::AronDictPtr casted = data::AronDictPtr::dynamicCast(aron);
+ writer.writeStartDict();
+ for (const auto& [key, value] : casted->elements)
+ {
+ writer.writeKey(key);
+ Visitor::SetupWriterFromAronDataPtr(writer, value);
+ }
+ writer.writeEndDict();
+ break;
}
-
- void Visitor::SetupWriterFromAronDataPtr(dataIO::Writer& writer, const data::AronDataPtr& aron)
+ case data::eList:
{
- data::Descriptor desc = Resolver::GetDescriptor(aron);
- switch (desc)
+ data::AronListPtr casted = data::AronListPtr::dynamicCast(aron);
+ writer.writeStartList();
+ for (const auto& value : casted->elements)
{
- case data::eDict:
- {
- data::AronDictPtr casted = data::AronDictPtr::dynamicCast(aron);
- writer.writeStartDict();
- for (const auto& [key, value] : casted->elements)
- {
- writer.writeKey(key);
- Visitor::SetupWriterFromAronDataPtr(writer, value);
- }
- writer.writeEndDict();
- break;
- }
- case data::eList:
- {
- data::AronListPtr casted = data::AronListPtr::dynamicCast(aron);
- writer.writeStartList();
- for (const auto& value : casted->elements)
- {
- Visitor::SetupWriterFromAronDataPtr(writer, value);
- }
- writer.writeEndList();
- break;
- }
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case data::e##upperType: \
-{ \
- data::Aron##upperType##Ptr casted = data::Aron##upperType##Ptr::dynamicCast(aron); \
- writer.write##upperType(casted->dimensions, casted->type, casted->data.data()); \
- break; \
-}
-
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case data::e##upperType: \
-{ \
- data::Aron##upperType##Ptr casted = data::Aron##upperType##Ptr::dynamicCast(aron); \
- writer.writePrimitive(casted->value); \
- break; \
-}
-
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
-
- default:
- {
- throw error::DescriptorNotValidException("LegacyAronDataWriter", "SetupWriterFromAronDataPtr", "Data-Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
- }
+ Visitor::SetupWriterFromAronDataPtr(writer, value);
}
+ writer.writeEndList();
+ break;
+ }
+ case data::eNDArray:
+ {
+ data::AronNDArrayPtr casted = data::AronNDArrayPtr::dynamicCast(aron);
+ writer.writeNDArray(casted->dimensions, casted->type, casted->data.data());
+ break;
+ }
+ case data::eInt:
+ {
+ data::AronIntPtr casted = data::AronIntPtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ case data::eLong:
+ {
+ data::AronLongPtr casted = data::AronLongPtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ case data::eFloat:
+ {
+ data::AronFloatPtr casted = data::AronFloatPtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ case data::eDouble:
+ {
+ data::AronDoublePtr casted = data::AronDoublePtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ case data::eString:
+ {
+ data::AronStringPtr casted = data::AronStringPtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ case data::eBool:
+ {
+ data::AronBoolPtr casted = data::AronBoolPtr::dynamicCast(aron);
+ writer.writePrimitive(casted->value);
+ break;
+ }
+ default:
+ {
+ throw error::DescriptorNotValidException("LegacyAronDataWriter", "SetupWriterFromAronDataPtr", "Data-Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
}
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h
index 6aacda826b32b1c5fa7aa4359a04f49cc5d6f984..b45ef50c60207e97e6e29e170df39cf0be237a90 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h
@@ -41,8 +41,8 @@ namespace armarx::aron::dataIO
Visitor() = delete;
public:
- static void SetupWriterFromAronDataPtr(Writer&, const datanavigator::NavigatorPtr&);
- static void SetupWriterFromAronDataPtr(Writer&, const data::AronDataPtr&);
+ static void SetupWriterFromAronDataPtr(WriterInterface&, const datanavigator::NavigatorPtr&);
+ static void SetupWriterFromAronDataPtr(WriterInterface&, const data::AronDataPtr&);
public:
};
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h
index f72099f145fd0d178d928c7efb94f23609e1173a..a6a42098d8a198c7aa1ace6751cce3e7130c4cfa 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h
@@ -20,71 +20,3 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <stack>
-
-// BaseClass
-#include <RobotAPI/libraries/aron/core/io/dataIO/Writer.h>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Exception.h>
-
-
-
-namespace armarx::aron::dataIO
-{
- template <typename GeneratePtr, typename TokenPtr>
- class TokenizedWriter;
-
- template <typename GeneratePtr, typename TokenPtr>
- using TokenizedWriterPtr = std::shared_ptr<TokenizedWriter<GeneratePtr, TokenPtr>>;
-
- template <typename GeneratePtr, typename TokenPtr>
- class TokenizedWriter :
- virtual public Writer
- {
- public:
- TokenizedWriter() = default;
-
- virtual bool writeKey(const std::string& k) override
- {
- TokenPtr token = stack.top();
- token->setCurrentKey(k);
- return true;
- }
-
- GeneratePtr getResult() const
- {
- assertLastRemovedTokenIsSet();
- assertStackIsEmpty();
- return lastRemovedToken->getElement();
- }
-
- protected:
- void assertLastRemovedTokenIsSet() const
- {
- if (lastRemovedToken == nullptr)
- {
- throw error::AronException("ClassWriter", "assertLastRemovedTokenIsSet", "lastRemovedToken is NULL. Perhaps you never called a writeEnd* method?");
- }
- if (lastRemovedToken->getElement() == nullptr)
- {
- throw error::AronException("ClassWriter", "assertLastRemovedTokenIsSet", "lastRemovedToken->getElement() is NULL.");
- }
- }
- void assertStackIsEmpty() const
- {
- if (stack.size() != 0)
- {
- throw error::AronException("ClassWriter", "assertStackIsEmpty", "The Size of the stack is not 0. Perhaps you never called a writeEnd* method?");
- }
- }
-
- protected:
- bool wroteInitialStartContainer = false;
- TokenPtr lastRemovedToken = nullptr;
- std::stack<TokenPtr> stack;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/WriterToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/WriterToken.h
index e5b84742bb6ddc365bd40ce3dcee6743ab93d7e2..f68311c85584db53e2401923e7eccbf6949dbbde 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/WriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/WriterToken.h
@@ -29,46 +29,69 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/io/Data.h>
namespace armarx::aron::dataIO
{
- template<typename ElementTypename, typename ElementAddTypename>
- class WriterToken;
+ template<typename ElementTypename>
+ class WriterTokenInterface;
- template<typename ElementTypename, typename ElementAddTypename>
- using WriterTokenPtr = std::shared_ptr<WriterToken<ElementTypename, ElementAddTypename>>;
+ template<typename ElementTypename>
+ using WriterTokenPtr = std::shared_ptr<WriterTokenInterface<ElementTypename>>;
- template<typename ElementTypename, typename ElementAddTypename>
- class WriterToken :
- virtual public io::WriterToken<data::Descriptor, ElementTypename, ElementAddTypename>
+ template<typename ElementTypename>
+ class WriterTokenInterface
{
public:
- using PointerType = WriterToken<ElementTypename, ElementAddTypename>;
+ using PointerType = WriterTokenInterface<ElementTypename>;
- public:
- // constructor
- WriterToken() = delete;
- WriterToken(const data::Descriptor desc, const ElementTypename& n) :
- io::WriterToken<data::Descriptor, ElementTypename, ElementAddTypename>(desc, n)
- {}
+ // Interface
+ virtual void addElement(const ElementTypename&) = 0;
- // public member functions
- virtual void addElement(const ElementAddTypename&) override = 0;
+ // General implementation
+ void setCurrentKey(const std::string& s)
+ {
+ if (s.empty())
+ {
+ throw error::AronException("AronWriterToken", "setCurrentKey", "The passed key is empty.");
+ }
+ currentKey = s;
+ }
- virtual std::string toElementAccessor() const override
+ ElementTypename getElement() const
{
- switch (this->descriptor)
+ return element;
+ }
+
+ data::Descriptor getDescriptor() const
+ {
+ return descriptor;
+ }
+
+ std::string toAccessor() const
+ {
+ data::Descriptor desc = this->getDescriptor();
+ switch (desc)
{
- case data::Descriptor::eDict:
- return this->currentKey;
- case data::Descriptor::eList:
- return std::to_string(this->currentIndex);
+ case data::eDict:
+ return currentKey;
+ case data::eList:
+ return std::to_string(currentIndex);
default:
- throw error::DescriptorNotValidException("ClassWriterToken", "toElementAccessor", "Could not resove a type of a navigator. Allowed are only container and complex types due to performance.", this->descriptor);
+ throw error::DescriptorNotValidException("NavigatorWriterToken", "toElementAccessor", "Could not resove a type of a navigator. Allowed are only containers.", desc);
}
}
- private:
+ protected:
+ // members
+ data::Descriptor descriptor = data::eUnknown;
+ ElementTypename element;
+
+ // current index
+ unsigned int currentIndex = 0;
+
+ // current key
+ std::string currentKey = "";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
index 25cb9335f9843315ba00631bfdc13182c0173361..adebb69a3a86875ac18e9854c96256c01458a9a3 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
@@ -31,79 +31,135 @@
namespace armarx::aron::dataIO::writer
+{
+
+ Path NavigatorWriter::generatePath()
+ {
+ Path path;
+ if (!wroteInitialStartContainer)
+ {
+ wroteInitialStartContainer = true;
+ }
+ else
+ {
+ auto parent_token = stack.top();
+ path = Path(parent_token->getElement()->getPath(), parent_token->toAccessor());
+ }
+ return path;
+ }
+
+ // Containers
+ void NavigatorWriter::writeStartDict()
+ {
+ Path path = generatePath();
+ auto data = std::make_shared<datanavigator::DictNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(data::eDict, data);
+ stack.push(new_token);
+ }
+
+ void NavigatorWriter::writeEndDict()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
{
+ NavigatorWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
- Path NavigatorWriter::generatePath()
- {
- Path path;
- if (!wroteInitialStartContainer)
- {
- wroteInitialStartContainer = true;
- }
- else
- {
- NavigatorWriterTokenPtr parent_token = stack.top();
- path = Path(parent_token->getElement()->getPath(), parent_token->toElementAccessor());
- }
- return path;
- }
-
- // Containers
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NavigatorWriter::writeStart##upperType() \
- { \
- Path path = generatePath(); \
- datanavigator::upperType##NavigatorPtr data = datanavigator::upperType##NavigatorPtr(new datanavigator::upperType##Navigator(path)); \
- NavigatorWriterTokenPtr new_token = NavigatorWriterTokenPtr(new NavigatorWriterToken(data->getDescriptor(), data)); \
- stack.push(new_token); \
- return true; \
- } \
- \
- bool NavigatorWriter::writeEnd##upperType() \
- { \
- lastRemovedToken = stack.top(); \
- stack.pop(); \
- \
- if (stack.size() > 0) \
- { \
- NavigatorWriterTokenPtr prevToken = stack.top(); \
- prevToken->addElement(lastRemovedToken->getElement()); \
- } \
- return true; \
+ void NavigatorWriter::writeStartList()
+ {
+ Path path = generatePath();
+ auto data = std::make_shared<datanavigator::ListNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(data::eList, data);
+ stack.push(new_token);
}
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
-
- // Complex Types
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NavigatorWriter::write##upperType(const std::vector<int>& dims, const std::string& t, const unsigned char* data) \
- { \
- Path path = generatePath(); \
- NavigatorWriterTokenPtr token = stack.top(); \
- datanavigator::upperType##NavigatorPtr aron(new datanavigator::upperType##Navigator(path)); \
- aron->setDimensions(dims); \
- aron->setType(t); \
- aron->setData(std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()), data); \
- token->addElement(aron); \
- return true; \
+ void NavigatorWriter::writeEndList()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ NavigatorWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
}
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ // Complex Types
+ void NavigatorWriter::writeNDArray(const std::vector<int>& dims, const std::string& t, const unsigned char* data)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ datanavigator::NDArrayNavigatorPtr aron(new datanavigator::NDArrayNavigator(path));
+ aron->setDimensions(dims);
+ aron->setType(t);
+ aron->setData(std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()), data);
+ token->addElement(aron);
+ }
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NavigatorWriter::writePrimitive(const lowerType& x) \
- { \
- Path path = generatePath(); \
- NavigatorWriterTokenPtr token = stack.top(); \
- datanavigator::upperType##NavigatorPtr aron(new datanavigator::upperType##Navigator(path)); \
- aron->setValue(x); \
- token->addElement(aron); \
- return true; \
+ // Primitive Types
+ void NavigatorWriter::writePrimitive(const int x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::IntNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
}
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ void NavigatorWriter::writePrimitive(const long x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::LongNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePrimitive(const float x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::FloatNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePrimitive(const double x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::DoubleNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePrimitive(const std::string& x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::StringNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePrimitive(const bool x)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ auto aron = std::make_shared<datanavigator::BoolNavigator>(path);
+ aron->setValue(x);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeKey(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h
index 4c4d58cc921de0a2be862ba0c7b9e3ff90907a8e..3467d630a3301e4ed962f4529057d4be4089a4b5 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h
@@ -25,7 +25,7 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/Writer.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Concepts.h>
@@ -38,31 +38,38 @@ namespace armarx::aron::dataIO::writer
typedef std::shared_ptr<NavigatorWriter> NavigatorWriterPtr;
class NavigatorWriter :
- virtual public TokenizedWriter<datanavigator::NavigatorPtr, NavigatorWriterTokenPtr>
+ virtual public WriterInterface
{
public:
NavigatorWriter() = default;
- #define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() override; \
- virtual bool writeEnd##upperType() override;
+ virtual void writeStartDict() override;
+ virtual void writeEndDict() override;
+ virtual void writeStartList() override;
+ virtual void writeEndList() override;
- HANDLE_CONTAINER_DATA
- #undef RUN_ARON_MACRO
+ virtual void writeNDArray(const std::vector<int>&, const std::string&, const unsigned char*) override;
- #define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType(const std::vector<int>&, const std::string&, const unsigned char*) override; \
+ virtual void writePrimitive(const int) override;
+ virtual void writePrimitive(const long) override;
+ virtual void writePrimitive(const float) override;
+ virtual void writePrimitive(const double) override;
+ virtual void writePrimitive(const std::string&) override;
+ virtual void writePrimitive(const bool) override;
- HANDLE_COMPLEX_DATA
- #undef RUN_ARON_MACRO
+ virtual void writeKey(const std::string&) override;
- #define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writePrimitive(const lowerType&) override;
-
- HANDLE_PRIMITIVE_DATA
- #undef RUN_ARON_MACRO
+ datanavigator::NavigatorPtr getResult() const
+ {
+ return lastRemovedToken->getElement();
+ }
private:
Path generatePath();
+
+ private:
+ bool wroteInitialStartContainer = false;
+ NavigatorWriterTokenPtr lastRemovedToken = nullptr;
+ std::stack<NavigatorWriterTokenPtr> stack;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
index 89778188cfac0130de989463e11e3d2bf66401aa..8f10dd89e20a4ad0d606a6b2054d152679a76bee 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
@@ -33,49 +33,46 @@
namespace armarx::aron::dataIO::writer
{
-class NavigatorWriterToken;
-typedef std::shared_ptr<NavigatorWriterToken> NavigatorWriterTokenPtr;
+ class NavigatorWriterToken;
+ typedef std::shared_ptr<NavigatorWriterToken> NavigatorWriterTokenPtr;
-class NavigatorWriterToken :
- virtual public WriterToken<datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>
-{
-public:
- using PointerType = NavigatorWriterTokenPtr;
-
-public:
- // constructor
- NavigatorWriterToken() = delete;
- NavigatorWriterToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& d) :
- io::WriterToken<data::Descriptor, datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>(desc, d),
- WriterToken<datanavigator::NavigatorPtr, datanavigator::NavigatorPtr>(desc, d)
+ class NavigatorWriterToken :
+ virtual public WriterTokenInterface<datanavigator::NavigatorPtr>
{
+ public:
+ using PointerType = NavigatorWriterTokenPtr;
- }
+ public:
+ // constructor
+ NavigatorWriterToken() = delete;
+ NavigatorWriterToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& d)
+ {
+ descriptor = desc;
+ element = d;
+ }
- // public member functions
- virtual void addElement(const datanavigator::NavigatorPtr& n) override
- {
- auto desc = this->getDescriptor();
- switch (desc)
+ // public member functions
+ virtual void addElement(const datanavigator::NavigatorPtr& n) override
{
- case data::Descriptor::eDict:
- {
- datanavigator::DictNavigatorPtr casted = datanavigator::DictNavigator::DynamicCastAndCheck(element);
- casted->addElement(currentKey, n);
- break;
- }
- case data::Descriptor::eList:
+ auto desc = this->getDescriptor();
+ switch (desc)
{
- datanavigator::ListNavigatorPtr casted = datanavigator::ListNavigator::DynamicCastAndCheck(element);
- casted->addElement(n);
- currentIndex++;
- break;
+ case data::Descriptor::eDict:
+ {
+ datanavigator::DictNavigatorPtr casted = datanavigator::DictNavigator::DynamicCastAndCheck(element);
+ casted->addElement(currentKey, n);
+ break;
+ }
+ case data::Descriptor::eList:
+ {
+ datanavigator::ListNavigatorPtr casted = datanavigator::ListNavigator::DynamicCastAndCheck(element);
+ casted->addElement(n);
+ currentIndex++;
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NavigatorWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers. The path was: " + element->pathToString(), desc);
}
- default:
- throw error::DescriptorNotValidException("NavigatorWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers. The path was: " + element->pathToString(), desc);
}
- }
-
-private:
-};
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 1ec5b749a8c2d0f8cdbd8e1d8c4839614090b59c..e57ee04fd96febf4aeeb128385ac14dce87d9217 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -26,63 +26,108 @@
#include "NlohmannJSONWriter.h"
namespace armarx::aron::dataIO::writer
+{
+
+ // Containers
+ void NlohmannJSONWriter::writeStartDict()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(data::eDict, data);
+ stack.push(new_token);
+ }
+
+ void NlohmannJSONWriter::writeEndDict()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
{
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
- // Containers
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NlohmannJSONWriter::writeStart##upperType() \
- { \
- nlohmann::json data; \
- NlohmannJSONWriterTokenPtr new_token = NlohmannJSONWriterTokenPtr(new NlohmannJSONWriterToken(data::Descriptor::e##upperType, data)); \
- stack.push(new_token); \
- return true; \
- } \
- \
- bool NlohmannJSONWriter::writeEnd##upperType() \
- { \
- lastRemovedToken = stack.top(); \
- stack.pop(); \
- \
- if (stack.size() > 0) \
- { \
- NlohmannJSONWriterTokenPtr prevToken = stack.top(); \
- prevToken->addElement(lastRemovedToken->getElement()); \
- } \
- return true; \
+ void NlohmannJSONWriter::writeStartList()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(data::eList, data);
+ stack.push(new_token);
}
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
-
- // Complex Types
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NlohmannJSONWriter::write##upperType(const std::vector<int>& dims, const std::string& t, const unsigned char* data) \
- { \
- NlohmannJSONWriterTokenPtr token = stack.top(); \
- nlohmann::json j; \
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims; \
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t; \
- int elements = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()); \
- std::vector<unsigned char> d = std::vector<unsigned char>(elements); \
- memcpy(d.data(), data, elements); \
- j[io::Data::READER_WRITER_NDARRAY_DATA_SLUG] = d; \
- token->addElement(j); \
- return true; \
+ void NlohmannJSONWriter::writeEndList()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
}
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ // Complex Types
+ void NlohmannJSONWriter::writeNDArray(const std::vector<int>& dims, const std::string& t, const unsigned char* data) \
+ {
+ NlohmannJSONWriterTokenPtr token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ int elements = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ std::vector<unsigned char> d = std::vector<unsigned char>(elements);
+ memcpy(d.data(), data, elements);
+ j[io::Data::READER_WRITER_NDARRAY_DATA_SLUG] = d;
+ token->addElement(j);
+ }
+
+ // Primitive
+ void NlohmannJSONWriter::writePrimitive(const int x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
+ }
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NlohmannJSONWriter::writePrimitive(const lowerType& x) \
- { \
- NlohmannJSONWriterTokenPtr token = stack.top(); \
- nlohmann::json j(x); \
- token->addElement(j); \
- return true; \
+ void NlohmannJSONWriter::writePrimitive(const long x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
}
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
+ void NlohmannJSONWriter::writePrimitive(const float x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writePrimitive(const double x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writePrimitive(const std::string& x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writePrimitive(const bool x)
+ {
+ auto token = stack.top();
+ nlohmann::json j(x);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeKey(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h
index 0407c6386261776f2bffa5ad89e41f18decc2cab..f36fa55d53127a2c79a6d0b9629718a24cb2070c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -26,7 +26,7 @@
#include <sstream>
// Base Class
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/Writer.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/Writer.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Concepts.h>
@@ -34,34 +34,39 @@
namespace armarx::aron::dataIO::writer
{
- class NlohmannJSONWriter;
- typedef std::shared_ptr<NlohmannJSONWriter> NlohmannJSONWriterPtr;
+ class NlohmannJSONWriter;
+ typedef std::shared_ptr<NlohmannJSONWriter> NlohmannJSONWriterPtr;
- class NlohmannJSONWriter :
- virtual public TokenizedWriter<nlohmann::json, NlohmannJSONWriterTokenPtr>
- {
- public:
- NlohmannJSONWriter() = default;
+ class NlohmannJSONWriter :
+ virtual public WriterInterface
+ {
+ public:
+ NlohmannJSONWriter() = default;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() override; \
- virtual bool writeEnd##upperType() override;
+ virtual void writeStartDict() override;
+ virtual void writeEndDict() override;
+ virtual void writeStartList() override;
+ virtual void writeEndList() override;
- HANDLE_CONTAINER_DATA
-#undef RUN_ARON_MACRO
+ virtual void writeNDArray(const std::vector<int>&, const std::string&, const unsigned char*) override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType(const std::vector<int>&, const std::string&, const unsigned char*) override; \
+ virtual void writePrimitive(const int) override;
+ virtual void writePrimitive(const long) override;
+ virtual void writePrimitive(const float) override;
+ virtual void writePrimitive(const double) override;
+ virtual void writePrimitive(const std::string&) override;
+ virtual void writePrimitive(const bool) override;
- HANDLE_COMPLEX_DATA
-#undef RUN_ARON_MACRO
+ virtual void writeKey(const std::string&) override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writePrimitive(const lowerType&) override;
+ nlohmann::json getResult() const
+ {
+ return lastRemovedToken->getElement();
+ }
- HANDLE_PRIMITIVE_DATA
-#undef RUN_ARON_MACRO
-
- private:
- };
+ private:
+ bool wroteInitialStartContainer = false;
+ NlohmannJSONWriterTokenPtr lastRemovedToken = nullptr;
+ std::stack<NlohmannJSONWriterTokenPtr> stack;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
index 4cbb9c1623c8499e906a856af98a4956da6c365a..9f37b4993a86c7006cfe8ad98b40ea006c09ff53 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
@@ -39,7 +39,7 @@ namespace armarx::aron::dataIO::writer
typedef std::shared_ptr<NlohmannJSONWriterToken> NlohmannJSONWriterTokenPtr;
class NlohmannJSONWriterToken :
- virtual public WriterToken<nlohmann::json, nlohmann::json>
+ virtual public WriterTokenInterface<nlohmann::json>
{
public:
using PointerType = NlohmannJSONWriterTokenPtr;
@@ -47,11 +47,10 @@ namespace armarx::aron::dataIO::writer
public:
// constructor
NlohmannJSONWriterToken() = delete;
- NlohmannJSONWriterToken(const data::Descriptor desc, const nlohmann::json& d) :
- io::WriterToken<data::Descriptor, nlohmann::json, nlohmann::json>(desc, d),
- WriterToken<nlohmann::json, nlohmann::json>(desc, d)
+ NlohmannJSONWriterToken(const data::Descriptor desc, const nlohmann::json& d)
{
-
+ descriptor = desc;
+ element = d;
}
// public member functions
@@ -75,7 +74,5 @@ namespace armarx::aron::dataIO::writer
throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "addElement", "Could not resove a type of a token. Allowed are only containers.", desc);
}
}
-
- private:
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
index e66ea6053f5857c8b7ec0a8f92639ce13232f785..738b4c351b068bbfc54b363cf68901dbb6035837 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
@@ -1,4 +1,4 @@
-/*
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -25,48 +25,51 @@
#include <string>
// ArmarX
-#include <ArmarXCore/core/exceptions/Exception.h>
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h>
namespace armarx::aron::typeIO
{
- class Reader;
- typedef std::shared_ptr<Reader> ReaderPtr;
+ class ReaderInterface;
+ typedef std::shared_ptr<ReaderInterface> ReaderInterfacePtr;
- class Reader
- {
- public:
- Reader() = default;
+ class ReaderInterface
+ {
+ public:
+ virtual std::tuple<std::string, int> readStartObject() = 0;
+ virtual bool readEndObject() = 0;
+ virtual int readStartList() = 0;
+ virtual bool readEndList() = 0;
+ virtual int readStartDict() = 0;
+ virtual bool readEndDict() = 0;
+ virtual int readStartTuple() = 0;
+ virtual bool readEndTuple() = 0;
+ virtual int readStartPair() = 0;
+ virtual bool readEndPair() = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual int readStart##upperType() = 0; \
- virtual bool readEnd##upperType() = 0;
+ virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() = 0;
+ virtual std::string readEigenQuaternion() = 0;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() = 0;
+ virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() = 0;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() = 0;
+ virtual void readPosition() = 0;
+ virtual void readOrientation() = 0;
+ virtual void readPose() = 0;
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
+ virtual void readInt() = 0;
+ virtual void readLong() = 0;
+ virtual void readFloat() = 0;
+ virtual void readDouble() = 0;
+ virtual void readString() = 0;
+ virtual void readBool() = 0;
+ virtual void readTime() = 0;
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() = 0;
- virtual std::string readEigenQuaternion() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() = 0;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() = 0;
- virtual void readPosition() = 0;
- virtual void readOrientation() = 0;
- virtual void readPose() = 0;
+ virtual std::string readKey() = 0;
+ virtual void loadMember(const std::string&) = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual void read##upperType() = 0;
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
-
- virtual std::string readKey() = 0;
- virtual bool readKey(const std::string&) = 0;
- virtual std::string readObjectName() = 0;
-
- // Helper functions
- virtual type::Descriptor getTypeOfNextAron() const = 0;
- };
+ // Helper functions
+ virtual type::Descriptor getTypeOfNext() const = 0;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index 7de05543ad3650590e74625fc57bb78194fd4f3c..552b5fc1a9427357ee9b971115fc49dda89d3745 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -33,38 +33,40 @@
namespace armarx::aron::typeIO
{
- class Writer;
- typedef std::shared_ptr<Writer> TypeWriterPtr;
+ class WriterInterface;
+ typedef std::shared_ptr<WriterInterface> WriterInterfacePtr;
- class Writer
- {
- public:
- Writer() = default;
+ class WriterInterface
+ {
+ public:
+ virtual void writeStartObject(const std::string&) = 0;
+ virtual void writeEndObject() = 0;
+ virtual void writeStartList() = 0;
+ virtual void writeEndList() = 0;
+ virtual void writeStartDict() = 0;
+ virtual void writeEndDict() = 0;
+ virtual void writeStartTuple() = 0;
+ virtual void writeEndTuple() = 0;
+ virtual void writeStartPair() = 0;
+ virtual void writeEndPair() = 0;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() = 0; \
- virtual bool writeEnd##upperType() = 0;
+ virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) = 0;
+ virtual void writeEigenQuaternion(const std::string&) = 0;
+ virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) = 0;
+ virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) = 0;
+ virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) = 0;
+ virtual void writePosition() = 0;
+ virtual void writeOrientation() = 0;
+ virtual void writePose() = 0;
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
+ virtual void writeInt() = 0;
+ virtual void writeLong() = 0;
+ virtual void writeFloat() = 0;
+ virtual void writeDouble() = 0;
+ virtual void writeString() = 0;
+ virtual void writeBool() = 0;
+ virtual void writeTime() = 0;
- virtual bool writeEigenMatrix(const std::vector<int>&, const std::string&) = 0;
- virtual bool writeEigenQuaternion(const std::string&) = 0;
- virtual bool writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) = 0;
- virtual bool writeOpenCVMat(const std::vector<int>&, const std::string&) = 0;
- virtual bool writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) = 0;
- virtual bool writePosition() = 0;
- virtual bool writeOrientation() = 0;
- virtual bool writePose() = 0;
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType() = 0;
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
-
- //virtual std::string readKey() = 0;
- virtual bool writeKey(const std::string&) = 0;
- virtual bool writeObjectName(const std::string&) = 0;
- };
+ virtual void writeKey(const std::string&) = 0;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
index 8bcde495e4b9af364cc21e297b423ceb2796cef9..b9aca9ffceea3bbae3fbd76794112bdca58379d8 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
@@ -26,131 +26,158 @@
#include "Converter.h"
namespace armarx::aron::typeIO
+{
+ void Converter::ConvertFromReader(ReaderInterface& reader, WriterInterface& writer)
+ {
+ type::Descriptor desc = reader.getTypeOfNext();
+ switch (desc)
{
- void Converter::ConvertFromReader(Reader& reader, Writer& writer)
+ case type::eObject:
{
- type::Descriptor desc = reader.getTypeOfNextAron();
- switch (desc)
- {
- case type::eObject:
- {
- const int elements = reader.readStartObject();
- const std::string name = reader.readObjectName();
-
- writer.writeStartObject();
- writer.writeObjectName(name);
+ const auto [name, elements] = reader.readStartObject();
+ writer.writeStartObject(name);
- for (int i = 0; i < elements; ++i)
- {
- std::string key = reader.readKey();
- writer.writeKey(key);
- Converter::ConvertFromReader(reader, writer);
- }
-
- writer.writeEndObject();
- reader.readEndObject();
- break;
- }
- case type::eDict:
+ for (int i = 0; i < elements; ++i)
{
- reader.readStartDict();
- writer.writeStartDict();
-
+ std::string key = reader.readKey();
+ writer.writeKey(key);
Converter::ConvertFromReader(reader, writer);
-
- writer.writeEndDict();
- reader.readEndDict();
- break;
}
- case type::eTuple:
- {
- int elements = reader.readStartTuple();
- writer.writeStartTuple();
- for (int i = 0; i < elements; ++i)
- {
- Converter::ConvertFromReader(reader, writer);
- }
+ writer.writeEndObject();
+ reader.readEndObject();
+ break;
+ }
+ case type::eDict:
+ {
+ reader.readStartDict();
+ writer.writeStartDict();
- writer.writeEndTuple();
- reader.readEndTuple();
- break;
- }
- case type::eList:
- {
- reader.readStartList();
- writer.writeStartList();
+ Converter::ConvertFromReader(reader, writer);
- Converter::ConvertFromReader(reader, writer);
+ writer.writeEndDict();
+ reader.readEndDict();
+ break;
+ }
+ case type::eTuple:
+ {
+ int elements = reader.readStartTuple();
+ writer.writeStartTuple();
- writer.writeEndList();
- reader.readEndList();
- break;
- }
- case type::eEigenMatrix:
- {
- auto x = reader.readEigenMatrix();
- writer.writeEigenMatrix(std::get<0>(x), std::get<1>(x));
- break;
- }
- case type::eEigenQuaternion:
- {
- auto x = reader.readEigenQuaternion();
- writer.writeEigenQuaternion(x);
- break;
- }
- case type::eIVTCByteImage:
- {
- auto x = reader.readIVTCByteImage();
- writer.writeIVTCByteImage(std::get<0>(x), std::get<1>(x), std::get<2>(x));
- break;
- }
- case type::eOpenCVMat:
- {
- auto x = reader.readOpenCVMat();
- writer.writeOpenCVMat(std::get<0>(x), std::get<1>(x));
- break;
- }
- case type::ePCLPointCloud:
- {
- auto x = reader.readPCLPointCloud();
- writer.writePCLPointCloud(std::get<0>(x), std::get<1>(x), std::get<2>(x));
- break;
- }
- case type::ePosition:
+ for (int i = 0; i < elements; ++i)
{
- reader.readPosition();
- writer.writePosition();
- break;
- }
- case type::eOrientation:
- {
- reader.readOrientation();
- writer.writeOrientation();
- break;
- }
- case type::ePose:
- {
- reader.readPose();
- writer.writePose();
- break;
+ Converter::ConvertFromReader(reader, writer);
}
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case type::e##upperType: \
-{ \
- reader.read##upperType(); \
- writer.write##upperType(); \
- break; \
-}
+ writer.writeEndTuple();
+ reader.readEndTuple();
+ break;
+ }
+ case type::eList:
+ {
+ reader.readStartList();
+ writer.writeStartList();
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ Converter::ConvertFromReader(reader, writer);
- default:
- {
- throw error::DescriptorNotValidException("LegacyAronTypeReader", "SetupReaderAndGetResult", "Type-Type could not be resolved", desc);
- }
- }
+ writer.writeEndList();
+ reader.readEndList();
+ break;
+ }
+ case type::eEigenMatrix:
+ {
+ auto x = reader.readEigenMatrix();
+ writer.writeEigenMatrix(std::get<0>(x), std::get<1>(x));
+ break;
+ }
+ case type::eEigenQuaternion:
+ {
+ auto x = reader.readEigenQuaternion();
+ writer.writeEigenQuaternion(x);
+ break;
+ }
+ case type::eIVTCByteImage:
+ {
+ auto x = reader.readIVTCByteImage();
+ writer.writeIVTCByteImage(std::get<0>(x), std::get<1>(x), std::get<2>(x));
+ break;
+ }
+ case type::eOpenCVMat:
+ {
+ auto x = reader.readOpenCVMat();
+ writer.writeOpenCVMat(std::get<0>(x), std::get<1>(x));
+ break;
+ }
+ case type::ePCLPointCloud:
+ {
+ auto x = reader.readPCLPointCloud();
+ writer.writePCLPointCloud(std::get<0>(x), std::get<1>(x), std::get<2>(x));
+ break;
+ }
+ case type::ePosition:
+ {
+ reader.readPosition();
+ writer.writePosition();
+ break;
+ }
+ case type::eOrientation:
+ {
+ reader.readOrientation();
+ writer.writeOrientation();
+ break;
+ }
+ case type::ePose:
+ {
+ reader.readPose();
+ writer.writePose();
+ break;
+ }
+ case type::eInt:
+ {
+ reader.readInt();
+ writer.writeInt();
+ break;
+ }
+ case type::eLong:
+ {
+ reader.readLong();
+ writer.writeLong();
+ break;
+ }
+ case type::eFloat:
+ {
+ reader.readFloat();
+ writer.writeFloat();
+ break;
+ }
+ case type::eDouble:
+ {
+ reader.readDouble();
+ writer.writeDouble();
+ break;
+ }
+ case type::eString:
+ {
+ reader.readString();
+ writer.writeString();
+ break;
+ }
+ case type::eBool:
+ {
+ reader.readBool();
+ writer.writeBool();
+ break;
+ }
+ case type::eTime:
+ {
+ reader.readTime();
+ writer.writeTime();
+ break;
+ }
+ default:
+ {
+ throw error::DescriptorNotValidException("LegacyAronTypeReader", "ConvertFromReader", "Type could not be resolved", desc);
}
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h
index 0cf154c351fb908fee17fbb1b6522310fe7d6c77..f1c59c61894ff07dfdea24d1f5682620392ebf35 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h
@@ -25,12 +25,13 @@
#include <string>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/typeIO/Reader.h>
+
// ArmarX
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Reader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
namespace armarx::aron::typeIO
@@ -44,7 +45,7 @@ namespace armarx::aron::typeIO
Converter() = delete;
public:
- static void ConvertFromReader(Reader&, Writer&);
+ static void ConvertFromReader(ReaderInterface&, WriterInterface&);
public:
};
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h
index 34864822acf7ca03853d3615fed96913de13c7ec..a6a42098d8a198c7aa1ace6751cce3e7130c4cfa 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h
@@ -20,72 +20,3 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-
-// BaseClass
-#include <RobotAPI/libraries/aron/core/io/typeIO/Reader.h>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Descriptor.h>
-
-namespace armarx::aron::typeIO
- {
- template <typename InputTypename, typename TokenPtrTypename>
- class TokenizedReader;
-
- template <typename InputTypename, typename TokenPtrTypename>
- using TokenizedReaderPtr = std::shared_ptr<TokenizedReader<InputTypename, TokenPtrTypename>> ;
-
- template <typename InputTypename, typename TokenPtrTypename>
- class TokenizedReader :
- public Reader
- {
- public:
- TokenizedReader() = delete;
- TokenizedReader(const InputTypename& input) :
- input(input)
- {
- }
-
- // ReadKey
- std::string readKey() override
- {
- TokenPtrTypename token = stack.top();
- std::string k = token->resolveCurrentKey();
- return k;
- }
-
- bool readKey(const std::string& k) override
- {
- TokenPtrTypename token = stack.top();
- token->setCurrentKey(k);
- return true;
- }
-
- std::string readObjectName() override
- {
- TokenPtrTypename token = stack.top();
- return token->getObjectName();
- }
-
- virtual type::Descriptor getTypeOfNextAron() const override
- {
- if (stack.empty())
- {
- // completely unknown. We assume a object on the top level
- return type::Descriptor::eObject;
- }
-
- TokenPtrTypename lastToken = stack.top();
- return lastToken->getTypeOfNextElement();
- }
-
- protected:
- InputTypename input;
- bool readInitialStart = false;
- std::stack<TokenPtrTypename> stack;
- };
-}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/ReaderToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/ReaderToken.h
index aec9e3f5b5607986024525cfb1af8931b0acf557..d0bd996f75fb869bc1a2b2fc879a5e505b1931bd 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/ReaderToken.h
@@ -23,50 +23,119 @@
// STD/STL
#include <memory>
#include <string>
+#include <vector>
// Base Class
#include <RobotAPI/libraries/aron/core/io/ReaderToken.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
-#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/io/Data.h>
+namespace armarx::aron::typeIO
+{
+ template<typename ElementTypename>
+ class ReaderTokenInterface;
+ template<typename ElementTypename>
+ using ReaderTokenInterfacePtr = std::shared_ptr<ReaderTokenInterface<ElementTypename>>;
-namespace armarx::aron::typeIO
- {
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- class ReaderToken;
+ template<typename ElementTypename>
+ class ReaderTokenInterface
+ {
+ public:
+ using PointerType = ReaderTokenInterfacePtr<ElementTypename>;
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- using ReaderTokenPtr = std::shared_ptr<ReaderToken<ElementReturnPtrTypename, ElementAddTypename>>;
+ public:
+ // Interface
+ virtual type::Descriptor getTypeOfNext() const = 0;
+ virtual ElementTypename getNextElement() const = 0;
- template<typename ElementReturnPtrTypename, typename ElementAddTypename>
- class ReaderToken :
- virtual public io::ReaderToken<type::Descriptor, ElementReturnPtrTypename, ElementAddTypename>
+ // General implementation
+ std::string getElementName() const
+ {
+ switch (descriptor)
{
- public:
- using PointerType = ReaderTokenPtr<ElementReturnPtrTypename, ElementAddTypename>;
+ case type::eObject:
+ case type::eIntEnum:
+ {
+ return elementName;
+ }
+ default:
+ throw error::DescriptorNotValidException("ReaderTokenInterface", "getElementName", "Could not get object nme of a non-object or non-enum token", descriptor);
+ }
+ }
- public:
- // constructors
- ReaderToken() = delete;
- ReaderToken(const type::Descriptor desc, const ElementAddTypename& type) :
- io::ReaderToken<type::Descriptor, ElementReturnPtrTypename, ElementAddTypename>(desc, type)
- { }
+ type::Descriptor getDescriptor() const
+ {
+ return descriptor;
+ }
+
+ unsigned int getElementChildrenSize() const
+ {
+ return childrenSize;
+ }
+
+ bool finishedElement() const
+ {
+ return currentIndex >= getElementChildrenSize();
+ }
+
+ std::string getCurrentKey() const
+ {
+ assertIndexInBounds();
- bool currentIsEligableForResolvingKey() const override
+ // ugly workaround
+ if (this->currentKey == "") // probably in a dict where the caller does not know which keys are there
+ {
+ if (this->allMemberNames.size() == 0)
{
- if (this->descriptor == type::Descriptor::eObject)
- {
- return true;
- }
- return false;
+ throw error::AronException("typeIO::ReaderTokenInterface", "getCurrentKey", "The currentKey is not set and the list of all keys is empty!");
}
+ return this->allMemberNames[this->currentIndex];
+ }
+ return this->currentKey;
+ }
+
+ void setCurrentKey(const std::string& s)
+ {
+ currentKey = s;
+ }
+
+ void assertType(type::Descriptor t) const
+ {
+ if (getDescriptor() != t)
+ {
+ throw error::DescriptorNotValidException("typeIO::ReaderTokenInterface", "assertType", "The type was not equal.", t);
+ }
+ }
+
+ void assertIndexInBounds() const
+ {
+ if (this->currentIndex >= getElementChildrenSize())
+ {
+ throw error::SizeNotValidException("typeIO::ReaderTokenInterface", "assertIndexInBounds", "Index out of bounds.", this->currentIndex, getElementChildrenSize());
+ }
+ }
+
+ ElementTypename getNextElementAndIncreaseCnt()
+ {
+ ElementTypename next = getNextElement();
+ this->currentIndex++;
+ return next;
+ }
+
+ protected:
+ // members
+ type::Descriptor descriptor = type::eUnknown;
+ ElementTypename element;
+ std::string elementName = "";
- virtual std::string getObjectName() const = 0;
- virtual type::Descriptor getTypeOfNextElement() const = 0;
+ unsigned int childrenSize = 0;
+ unsigned int currentIndex = 0;
- private:
- };
+ std::string currentKey = "";
+ std::vector<std::string> allMemberNames = {};
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
index a2cdd6d27465e4e00c75b72d9f022af52147c249..19a19936f8cc8e01f494c00105735a6556c1ef14 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
@@ -33,137 +33,250 @@
namespace armarx::aron::typeIO::reader
- {
- NavigatorReader::NavigatorReader(const typenavigator::NavigatorPtr& n) :
- TokenizedReader<typenavigator::NavigatorPtr, NavigatorReaderTokenPtr>(n)
- {
- }
-
- NavigatorReader::NavigatorReader(const type::AronTypePtr& n) :
- TokenizedReader<typenavigator::NavigatorPtr, NavigatorReaderTokenPtr>(typenavigator::Navigator::FromAronType(n))
- {
- }
-
- typenavigator::NavigatorPtr NavigatorReader::getCurrentAndGoToNext()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return input;
- }
- NavigatorReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElementAndIncreaseCnt();
- }
-
- typenavigator::NavigatorPtr NavigatorReader::getCurrent()
- {
- if (!readInitialStart)
- {
- readInitialStart = true;
- return input;
- }
- NavigatorReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElement();
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- int NavigatorReader::readStart##upperType() \
- { \
- typenavigator::NavigatorPtr current_nav = getCurrentAndGoToNext(); \
- auto desc = current_nav->getDescriptor(); \
- if (desc != type::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NavigatorReader", "readStart" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
- return false; \
- } \
- typenavigator::upperType##NavigatorPtr current_nav_casted = typenavigator::upperType##Navigator::DynamicCast(current_nav); \
- NavigatorReaderTokenPtr newToken = NavigatorReaderTokenPtr(new NavigatorReaderToken(current_nav->getDescriptor(), current_nav_casted)); \
- stack.push(newToken); \
- return newToken->getChildrenSize(); \
- } \
- \
- bool NavigatorReader::readEnd##upperType() \
- { \
- NavigatorReaderTokenPtr token = stack.top(); \
- auto desc = token->getDescriptor(); \
- if (desc != type::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NavigatorReader", "readEnd" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
- return false; \
- } \
- \
- if (token->checkedAllChildren()) \
- { \
- stack.pop(); \
- return true; \
- } \
- return false; \
- }
-
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
-
-std::tuple<std::vector<int>, std::string> NavigatorReader::readEigenMatrix()
{
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext();
- typenavigator::EigenMatrixNavigatorPtr casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
- return std::make_tuple(casted->getDimensions(), casted->getTypename());
-}
+ NavigatorReader::NavigatorReader(const typenavigator::NavigatorPtr& n) :
+ input(n)
+ {
+ }
-std::string NavigatorReader::readEigenQuaternion()
-{
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext();
- typenavigator::EigenMatrixNavigatorPtr casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
- return casted->getTypename();
-}
+ NavigatorReader::NavigatorReader(const type::AronTypePtr& n) :
+ input(typenavigator::Navigator::FromAronType(n))
+ {
+ }
-std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readIVTCByteImage()
-{
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext();
- typenavigator::IVTCByteImageNavigatorPtr casted = typenavigator::IVTCByteImageNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
-}
+ typenavigator::NavigatorPtr NavigatorReader::getNextAndIncrease()
+ {
+ if (!readInitialStart)
+ {
+ readInitialStart = true;
+ return input;
+ }
+ NavigatorReaderTokenPtr lastToken = stack.top();
+ return lastToken->getNextElementAndIncreaseCnt();
+ }
-std::tuple<std::vector<int>, std::string> NavigatorReader::readOpenCVMat()
-{
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext();
- typenavigator::OpenCVMatNavigatorPtr casted = typenavigator::OpenCVMatNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getDimensions(), casted->getTypename());
-}
+ std::tuple<std::string, int> NavigatorReader::readStartObject()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(current_nav);
+ auto newToken = std::make_shared<NavigatorReaderToken>(type::eObject, current_nav_casted);
+ stack.push(newToken);
+ return {newToken->getElementName(), newToken->getElementChildrenSize()};
+ }
-std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readPCLPointCloud()
-{
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext();
- typenavigator::PCLPointCloudNavigatorPtr casted = typenavigator::PCLPointCloudNavigator::DynamicCastAndCheck(nav);
- return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
-}
+ bool NavigatorReader::readEndObject()
+ {
+ auto token = stack.top();
+ token->assertType(type::eObject);
-void NavigatorReader::readPosition()
-{
- getCurrentAndGoToNext();
- return;
-}
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
-void NavigatorReader::readOrientation()
-{
- getCurrentAndGoToNext();
- return;
-}
+ int NavigatorReader::readStartDict()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = typenavigator::DictNavigator::DynamicCastAndCheck(current_nav);
+ auto newToken = std::make_shared<NavigatorReaderToken>(type::eDict, current_nav_casted);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
-void NavigatorReader::readPose()
-{
- getCurrentAndGoToNext();
- return;
-}
+ bool NavigatorReader::readEndDict()
+ {
+ auto token = stack.top();
+ token->assertType(type::eDict);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ int NavigatorReader::readStartList()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = typenavigator::ListNavigator::DynamicCastAndCheck(current_nav);
+ auto newToken = std::make_shared<NavigatorReaderToken>(type::eList, current_nav_casted);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
+
+ bool NavigatorReader::readEndList()
+ {
+ auto token = stack.top();
+ token->assertType(type::eList);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ int NavigatorReader::readStartTuple()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = typenavigator::TupleNavigator::DynamicCastAndCheck(current_nav);
+ auto newToken = std::make_shared<NavigatorReaderToken>(type::eTuple, current_nav_casted);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
+
+ bool NavigatorReader::readEndTuple()
+ {
+ auto token = stack.top();
+ token->assertType(type::eTuple);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
- // Read primitives
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- void NavigatorReader::read##upperType() \
- { \
- typenavigator::NavigatorPtr nav = getCurrentAndGoToNext(); \
- typenavigator::upperType##NavigatorPtr casted = typenavigator::upperType##Navigator::DynamicCastAndCheck(nav); \
+ int NavigatorReader::readStartPair()
+ {
+ auto current_nav = getNextAndIncrease();
+ auto current_nav_casted = typenavigator::PairNavigator::DynamicCastAndCheck(current_nav);
+ auto newToken = std::make_shared<NavigatorReaderToken>(type::ePair, current_nav_casted);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
}
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ bool NavigatorReader::readEndPair()
+ {
+ auto token = stack.top();
+ token->assertType(type::ePair);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ std::tuple<std::vector<int>, std::string> NavigatorReader::readEigenMatrix()
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
+ return std::make_tuple(casted->getDimensions(), casted->getTypename());
+ }
+
+ std::string NavigatorReader::readEigenQuaternion()
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
+ return casted->getTypename();
+ }
+
+ std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readIVTCByteImage()
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = typenavigator::IVTCByteImageNavigator::DynamicCastAndCheck(nav);
+ return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
+ }
+
+ std::tuple<std::vector<int>, std::string> NavigatorReader::readOpenCVMat()
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = typenavigator::OpenCVMatNavigator::DynamicCastAndCheck(nav);
+ return make_tuple(casted->getDimensions(), casted->getTypename());
+ }
+
+ std::tuple<unsigned int, unsigned int, std::string> NavigatorReader::readPCLPointCloud()
+ {
+ auto nav = getNextAndIncrease();
+ auto casted = typenavigator::PCLPointCloudNavigator::DynamicCastAndCheck(nav);
+ return make_tuple(casted->getWidth(), casted->getHeight(), casted->getTypename());
+ }
+
+ void NavigatorReader::readPosition()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::PositionNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readOrientation()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::OrientationNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readPose()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::PoseNavigator::DynamicCastAndCheck(nav);
+ }
+
+ // Read primitives
+ void NavigatorReader::readInt()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::IntNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readFloat()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::FloatNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readLong()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::LongNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readDouble()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::DoubleNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readString()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::StringNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readBool()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::BoolNavigator::DynamicCastAndCheck(nav);
+ }
+
+ void NavigatorReader::readTime()
+ {
+ auto nav = getNextAndIncrease();
+ typenavigator::TimeNavigator::DynamicCastAndCheck(nav);
+ }
+
+ std::string NavigatorReader::readKey()
+ {
+ auto token = stack.top();
+ return token->getCurrentKey();
+ }
+
+ void NavigatorReader::loadMember(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
+
+ // Helper functions
+ type::Descriptor NavigatorReader::getTypeOfNext() const
+ {
+ auto token = stack.top();
+ return token->getTypeOfNext();
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
index 43cb65c8738f2c53ff40c97e5a07df107c0b5ec2..0b733ce7cb7bafc9965a6a08c649271c35079028 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h
@@ -25,7 +25,7 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Reader.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
@@ -33,48 +33,63 @@
namespace armarx::aron::typeIO::reader
- {
- class NavigatorReader;
- typedef std::shared_ptr<NavigatorReader> NavigatorReaderPtr;
-
- class NavigatorReader :
- virtual public TokenizedReader<typenavigator::NavigatorPtr, NavigatorReaderTokenPtr>
- {
- public:
- using PointerType = NavigatorReaderPtr;
-
- public:
- // constructors
- NavigatorReader() = delete;
- NavigatorReader(const typenavigator::NavigatorPtr& n);
- NavigatorReader(const type::AronTypePtr& n);
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual int readStart##upperType() override; \
- virtual bool readEnd##upperType() override;
-
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
-
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() = 0;
- virtual std::string readEigenQuaternion() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() = 0;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() = 0;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() = 0;
- virtual void readPosition() = 0;
- virtual void readOrientation() = 0;
- virtual void readPose() = 0;
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual void read##upperType() override;
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
-
- private:
- typenavigator::NavigatorPtr getCurrentAndGoToNext();
- typenavigator::NavigatorPtr getCurrent();
-
- private:
- };
+{
+ class NavigatorReader;
+ typedef std::shared_ptr<NavigatorReader> NavigatorReaderPtr;
+
+ class NavigatorReader :
+ virtual public ReaderInterface
+ {
+ public:
+ using PointerType = NavigatorReaderPtr;
+
+ public:
+ // constructors
+ NavigatorReader() = delete;
+ NavigatorReader(const typenavigator::NavigatorPtr& n);
+ NavigatorReader(const type::AronTypePtr& n);
+
+
+ virtual std::tuple<std::string, int> readStartObject() override;
+ virtual bool readEndObject() override;
+ virtual int readStartList() override;
+ virtual bool readEndList() override;
+ virtual int readStartDict() override;
+ virtual bool readEndDict() override;
+ virtual int readStartTuple() override;
+ virtual bool readEndTuple() override;
+ virtual int readStartPair() override;
+ virtual bool readEndPair() override;
+
+ virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() override;
+ virtual std::string readEigenQuaternion() override;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() override;
+ virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() override;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() override;
+ virtual void readPosition() override;
+ virtual void readOrientation() override;
+ virtual void readPose() override;
+
+ virtual void readInt() override;
+ virtual void readLong() override;
+ virtual void readFloat() override;
+ virtual void readDouble() override;
+ virtual void readString() override;
+ virtual void readBool() override;
+ virtual void readTime() override;
+
+ virtual std::string readKey() override;
+ virtual void loadMember(const std::string&) override;
+
+ // Helper functions
+ virtual type::Descriptor getTypeOfNext() const override;
+
+ private:
+ typenavigator::NavigatorPtr getNextAndIncrease();
+
+ private:
+ typenavigator::NavigatorPtr input;
+ bool readInitialStart = false;
+ std::stack<NavigatorReaderTokenPtr> stack;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReaderToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReaderToken.h
index a22818709fcb5fb6bb513952bad66b8e0e08006f..9c8425ce589d6585bb6a460ea4774b76960707e7 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReaderToken.h
@@ -32,105 +32,108 @@
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
namespace armarx::aron::typeIO::reader
+{
+ class NavigatorReaderToken;
+ typedef std::shared_ptr<NavigatorReaderToken> NavigatorReaderTokenPtr;
+
+ class NavigatorReaderToken :
+ virtual public ReaderTokenInterface<typenavigator::NavigatorPtr>
+ {
+ public:
+ using PointerType = NavigatorReaderTokenPtr;
+
+ public:
+ // constructors
+ NavigatorReaderToken() = delete;
+ NavigatorReaderToken(const type::Descriptor desc, const typenavigator::NavigatorPtr& type)
{
- // BaseClass
- class NavigatorReaderToken;
- typedef std::shared_ptr<NavigatorReaderToken> NavigatorReaderTokenPtr;
+ descriptor = desc;
+ element = type;
- class NavigatorReaderToken :
- virtual public ReaderToken<typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>
+ switch (descriptor)
{
- public:
- using PointerType = NavigatorReaderTokenPtr;
-
- public:
- // constructors
- NavigatorReaderToken() = delete;
- NavigatorReaderToken(const type::Descriptor desc, const typenavigator::NavigatorPtr& type) :
- io::ReaderToken<type::Descriptor, typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>(desc, type),
- ReaderToken<typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>(desc, type)
+ case type::Descriptor::eObject:
{
- switch (descriptor)
+ for (const auto& [key, _] : typenavigator::ObjectNavigator::DynamicCastAndCheck(element)->getMemberTypes())
{
- case type::Descriptor::eObject:
- {
- for (const auto& [key, _] : typenavigator::ObjectNavigator::DynamicCast(element)->getMemberTypes())
- {
- allKeys.push_back(key);
- }
-
- maxIndex = allKeys.size();
- break;
- }
- case type::Descriptor::eDict:
- {
- maxIndex = 1;
- break;
- }
- case type::Descriptor::eTuple:
- {
- maxIndex = typenavigator::TupleNavigator::DynamicCast(element)->getAcceptedTypes().size();
- break;
- }
- case type::Descriptor::eList:
- {
- maxIndex = 1;
- break;
- }
- default:
- throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Received an invalid instance for a reader token.", desc);
+ allMemberNames.push_back(key);
}
+ childrenSize = type->childrenSize();
+ break;
}
-
- std::string getObjectName() const override
+ case type::Descriptor::eDict:
{
- if(descriptor == type::Descriptor::eObject)
- {
- const typenavigator::ObjectNavigatorPtr next = typenavigator::ObjectNavigator::DynamicCastAndCheck(getCurrentElement());
- return next->getObjectName();
- }
- throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Could not get object nme of a non-object token", descriptor);
+ typenavigator::DictNavigator::DynamicCastAndCheck(element);
+ childrenSize = 1;
+ break;
}
-
- type::Descriptor getTypeOfNextElement() const override
+ case type::Descriptor::eTuple:
+ {
+ typenavigator::TupleNavigator::DynamicCastAndCheck(element);
+ childrenSize = type->childrenSize();
+ break;
+ }
+ case type::Descriptor::eList:
{
- const typenavigator::NavigatorPtr next = getCurrentElement();
- return next->getDescriptor();
+ typenavigator::ListNavigator::DynamicCastAndCheck(element);
+ childrenSize = 1;
+ break;
}
+ case type::Descriptor::ePair:
+ {
+ typenavigator::PairNavigator::DynamicCastAndCheck(element);
+ childrenSize = 2;
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Received an invalid instance for a reader token.", desc);
+ }
+ }
+
+ type::Descriptor getTypeOfNext() const override
+ {
+ const typenavigator::NavigatorPtr next = getNextElement();
+ return next->getDescriptor();
+ }
+
+ typenavigator::NavigatorPtr getNextElement() const override
+ {
+ assertIndexInBounds();
- typenavigator::NavigatorPtr getCurrentElement() const override
+ switch (descriptor)
+ {
+ case type::Descriptor::eObject:
{
- switch (descriptor)
+ typenavigator::ObjectNavigatorPtr casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(element);
+ return casted->getMemberType(getCurrentKey());
+ }
+ case type::Descriptor::eDict:
+ {
+ typenavigator::DictNavigatorPtr casted = typenavigator::DictNavigator::DynamicCastAndCheck(element);
+ return casted->getAcceptedType();
+ }
+ case type::Descriptor::eTuple:
+ {
+ typenavigator::TupleNavigatorPtr casted = typenavigator::TupleNavigator::DynamicCastAndCheck(element);
+ return casted->getAcceptedType(currentIndex);
+ }
+ case type::Descriptor::eList:
+ {
+ typenavigator::ListNavigatorPtr casted = typenavigator::ListNavigator::DynamicCastAndCheck(element);
+ return casted->getAcceptedType();
+ }
+ case type::Descriptor::ePair:
+ {
+ typenavigator::PairNavigatorPtr casted = typenavigator::PairNavigator::DynamicCastAndCheck(element);
+ if (currentIndex == 0)
{
- case type::Descriptor::eObject:
- {
- typenavigator::ObjectNavigatorPtr casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(element);
- typenavigator::NavigatorPtr ret = casted->getMemberType(resolveCurrentKey());
- return ret;
- }
- case type::Descriptor::eDict:
- {
- typenavigator::DictNavigatorPtr casted = typenavigator::DictNavigator::DynamicCastAndCheck(element);
- typenavigator::NavigatorPtr ret = casted->getAcceptedType();
- return ret;
- }
- case type::Descriptor::eTuple:
- {
- typenavigator::TupleNavigatorPtr casted = typenavigator::TupleNavigator::DynamicCastAndCheck(element);
- typenavigator::NavigatorPtr ret = casted->getAcceptedType(currentIndex);
- return ret;
- }
- case type::Descriptor::eList:
- {
- typenavigator::ListNavigatorPtr casted = typenavigator::ListNavigator::DynamicCastAndCheck(element);
- typenavigator::NavigatorPtr ret = casted->getAcceptedType();
- return ret;
- }
- default:
- throw error::DescriptorNotValidException("NavigatorReaderToken", "getNextElement", "Could not resove a type of a navigator. Allowed are only container types due to performance", descriptor);
+ return casted->getFirstAcceptedType();
}
+ return casted->getSecondAcceptedType();
}
-
- private:
- };
+ default:
+ throw error::DescriptorNotValidException("NavigatorReaderToken", "getNextElement", "Could not resove a type of a navigator. Allowed are only container types due to performance", descriptor);
+ }
+ }
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 6090f2176eb1d677df379d5327bae604f3963694..eea8c5dc279d527d9aa6024b1c3bfed2f2e9da8a 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -35,16 +35,16 @@
namespace armarx::aron::typeIO::reader
{
NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
- TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>(n)
+ input(n)
{
}
NlohmannJSONReader::NlohmannJSONReader(const std::string& n) :
- TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>(nlohmann::json::parse(n))
+ input(n)
{
}
- nlohmann::json NlohmannJSONReader::getCurrentAndGoToNext()
+ nlohmann::json NlohmannJSONReader::getNextAndIncrease()
{
if (!readInitialStart)
{
@@ -52,114 +52,223 @@ namespace armarx::aron::typeIO::reader
return input;
}
NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElementAndIncreaseCnt();
+ return lastToken->getNextElementAndIncreaseCnt();
}
- nlohmann::json NlohmannJSONReader::getCurrent()
+ std::tuple<std::string, int> NlohmannJSONReader::readStartObject()
{
- if (!readInitialStart)
+ nlohmann::json current_json = getNextAndIncrease();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::eObject, current_json);
+ stack.push(newToken);
+ return {newToken->getElementName(), newToken->getElementChildrenSize()};
+ }
+
+ bool NlohmannJSONReader::readEndObject()
+ {
+ NlohmannJSONReaderTokenPtr token = stack.top();
+ token->assertType(type::eObject);
+
+ if (token->finishedElement())
{
- readInitialStart = true;
- return input;
+ stack.pop();
+ return true;
}
- NlohmannJSONReaderTokenPtr lastToken = stack.top();
- return lastToken->getCurrentElement();
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- int NlohmannJSONReader::readStart##upperType() \
- { \
- nlohmann::json current_json = getCurrentAndGoToNext(); \
- NlohmannJSONReaderTokenPtr newToken = NlohmannJSONReaderTokenPtr(new NlohmannJSONReaderToken(type::e##upperType, current_json)); \
- stack.push(newToken); \
- return newToken->getChildrenSize(); \
- } \
- \
- bool NlohmannJSONReader::readEnd##upperType() \
- { \
- NlohmannJSONReaderTokenPtr token = stack.top(); \
- auto desc = token->getDescriptor(); \
- if (desc != type::Descriptor::e##upperType) \
- { \
- throw error::DescriptorNotValidException("NlohmannJSONReader", "readEnd" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType) + "Type", desc); \
- return false; \
- } \
- \
- if (token->checkedAllChildren()) \
- { \
- stack.pop(); \
- return true; \
- } \
- return false; \
- }
-
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
-
-std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readEigenMatrix()
-{
- nlohmann::json j = getCurrentAndGoToNext();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims, type);
-}
+ return false;
+ }
-std::string NlohmannJSONReader::readEigenQuaternion()
-{
- nlohmann::json j = getCurrentAndGoToNext();
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return type;
-}
+ int NlohmannJSONReader::readStartDict()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::eDict, current_json);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
-std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readIVTCByteImage()
-{
- nlohmann::json j = getCurrentAndGoToNext();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims[0], dims[1], type);
-}
+ bool NlohmannJSONReader::readEndDict()
+ {
+ NlohmannJSONReaderTokenPtr token = stack.top();
+ token->assertType(type::eDict);
-std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readOpenCVMat()
-{
- nlohmann::json j = getCurrentAndGoToNext();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims, type);
-}
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
-std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readPCLPointCloud()
-{
- nlohmann::json j = getCurrentAndGoToNext();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
- return std::make_tuple(dims[0], dims[1], type);
-}
+ int NlohmannJSONReader::readStartList()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::eList, current_json);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
-void NlohmannJSONReader::readPosition()
-{
- getCurrentAndGoToNext();
- return;
-}
+ bool NlohmannJSONReader::readEndList()
+ {
+ NlohmannJSONReaderTokenPtr token = stack.top();
+ token->assertType(type::eList);
-void NlohmannJSONReader::readOrientation()
-{
- getCurrentAndGoToNext();
- return;
-}
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
-void NlohmannJSONReader::readPose()
-{
- getCurrentAndGoToNext();
- return;
-}
+ int NlohmannJSONReader::readStartTuple()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::eTuple, current_json);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
+
+ bool NlohmannJSONReader::readEndTuple()
+ {
+ NlohmannJSONReaderTokenPtr token = stack.top();
+ token->assertType(type::eTuple);
- // Read primitives
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- void NlohmannJSONReader::read##upperType() \
- { \
- nlohmann::json j = getCurrentAndGoToNext(); \
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
}
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ int NlohmannJSONReader::readStartPair()
+ {
+ nlohmann::json current_json = getNextAndIncrease();
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(type::ePair, current_json);
+ stack.push(newToken);
+ return newToken->getElementChildrenSize();
+ }
+
+ bool NlohmannJSONReader::readEndPair()
+ {
+ NlohmannJSONReaderTokenPtr token = stack.top();
+ token->assertType(type::ePair);
+
+ if (token->finishedElement())
+ {
+ stack.pop();
+ return true;
+ }
+ return false;
+ }
+
+ std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readEigenMatrix()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return std::make_tuple(dims, type);
+ }
+
+ std::string NlohmannJSONReader::readEigenQuaternion()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return type;
+ }
+
+ std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readIVTCByteImage()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return std::make_tuple(dims[0], dims[1], type);
+ }
+
+ std::tuple<std::vector<int>, std::string> NlohmannJSONReader::readOpenCVMat()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return std::make_tuple(dims, type);
+ }
+
+ std::tuple<unsigned int, unsigned int, std::string> NlohmannJSONReader::readPCLPointCloud()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+ return std::make_tuple(dims[0], dims[1], type);
+ }
+
+ void NlohmannJSONReader::readPosition()
+ {
+ getNextAndIncrease();
+ return;
+ }
+
+ void NlohmannJSONReader::readOrientation()
+ {
+ getNextAndIncrease();
+ return;
+ }
+
+ void NlohmannJSONReader::readPose()
+ {
+ getNextAndIncrease();
+ return;
+ }
+
+ // Read primitives
+ void NlohmannJSONReader::readInt()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readLong()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readFloat()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readDouble()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readString()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readBool()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ void NlohmannJSONReader::readTime()
+ {
+ nlohmann::json j = getNextAndIncrease();
+ }
+
+ std::string NlohmannJSONReader::readKey()
+ {
+ auto token = stack.top();
+ return token->getCurrentKey();
+ }
+
+ void NlohmannJSONReader::loadMember(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
+
+ // Helper functions
+ type::Descriptor NlohmannJSONReader::getTypeOfNext() const
+ {
+ auto token = stack.top();
+ return token->getTypeOfNext();
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
index 322bf0cf7e02174e6caca07d829a2767262ab167..70efcc50ec54620533272f9493aa77c17701fa41 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -25,54 +25,68 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/Reader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Reader.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h>
namespace armarx::aron::typeIO::reader
- {
- class NlohmannJSONReader;
- typedef std::shared_ptr<NlohmannJSONReader> NlohmannJSONReaderPtr;
+{
+ class NlohmannJSONReader;
+ typedef std::shared_ptr<NlohmannJSONReader> NlohmannJSONReaderPtr;
- class NlohmannJSONReader :
- virtual public TokenizedReader<nlohmann::json, NlohmannJSONReaderTokenPtr>
- {
- public:
- using PointerType = NlohmannJSONReaderPtr;
+ class NlohmannJSONReader :
+ virtual public ReaderInterface
+ {
+ public:
+ using PointerType = NlohmannJSONReaderPtr;
- public:
- // constructors
- NlohmannJSONReader() = delete;
- NlohmannJSONReader(const nlohmann::json& n);
- NlohmannJSONReader(const std::string& n);
+ public:
+ // constructors
+ NlohmannJSONReader() = delete;
+ NlohmannJSONReader(const nlohmann::json& n);
+ NlohmannJSONReader(const std::string& n);
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual int readStart##upperType() override; \
- virtual bool readEnd##upperType() override;
+ virtual std::tuple<std::string, int> readStartObject() override;
+ virtual bool readEndObject() override;
+ virtual int readStartList() override;
+ virtual bool readEndList() override;
+ virtual int readStartDict() override;
+ virtual bool readEndDict() override;
+ virtual int readStartTuple() override;
+ virtual bool readEndTuple() override;
+ virtual int readStartPair() override;
+ virtual bool readEndPair() override;
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
+ virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() override;
+ virtual std::string readEigenQuaternion() override;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() override;
+ virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() override;
+ virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() override;
+ virtual void readPosition() override;
+ virtual void readOrientation() override;
+ virtual void readPose() override;
- virtual std::tuple<std::vector<int>, std::string> readEigenMatrix() override;
- virtual std::string readEigenQuaternion() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readIVTCByteImage() override;
- virtual std::tuple<std::vector<int>, std::string> readOpenCVMat() override;
- virtual std::tuple<unsigned int, unsigned int, std::string> readPCLPointCloud() override;
- virtual void readPosition() override;
- virtual void readOrientation() override;
- virtual void readPose() override;
+ virtual void readInt() override;
+ virtual void readLong() override;
+ virtual void readFloat() override;
+ virtual void readDouble() override;
+ virtual void readString() override;
+ virtual void readBool() override;
+ virtual void readTime() override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual void read##upperType() override;
+ virtual std::string readKey() override;
+ virtual void loadMember(const std::string&) override;
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ // Helper functions
+ virtual type::Descriptor getTypeOfNext() const override;
- private:
- nlohmann::json getCurrent();
- nlohmann::json getCurrentAndGoToNext();
+ private:
+ nlohmann::json getNextAndIncrease();
- private:
- };
+ private:
+ nlohmann::json input;
+ bool readInitialStart = false;
+ std::stack<NlohmannJSONReaderTokenPtr> stack;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
index ba2bf1f97b20dd83a9e5e9096f07b19f0dd2461c..78b3c04ab5fe09cef34cee4c96c5749a9eff908c 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
@@ -35,156 +35,185 @@
#include <RobotAPI/libraries/aron/core/Resolver.h>
namespace armarx::aron::typeIO::reader
+{
+ class NlohmannJSONReaderToken;
+ typedef std::shared_ptr<NlohmannJSONReaderToken> NlohmannJSONReaderTokenPtr;
+
+ class NlohmannJSONReaderToken :
+ virtual public ReaderTokenInterface<nlohmann::json>
+ {
+ public:
+ using PointerType = NlohmannJSONReaderTokenPtr;
+
+ public:
+ // constructors
+ NlohmannJSONReaderToken() = delete;
+ NlohmannJSONReaderToken(const type::Descriptor desc, const nlohmann::json& type)
{
- // BaseClass
- class NlohmannJSONReaderToken;
- typedef std::shared_ptr<NlohmannJSONReaderToken> NlohmannJSONReaderTokenPtr;
+ descriptor = desc;
+ element = type;
- class NlohmannJSONReaderToken :
- virtual public ReaderToken<nlohmann::json, nlohmann::json>
+ switch (descriptor)
{
- public:
- using PointerType = NlohmannJSONReaderTokenPtr;
-
- public:
- // constructors
- NlohmannJSONReaderToken() = delete;
- NlohmannJSONReaderToken(const type::Descriptor desc, const nlohmann::json& type) :
- io::ReaderToken<type::Descriptor, nlohmann::json, nlohmann::json>(desc, type),
- ReaderToken<nlohmann::json, nlohmann::json>(desc, type)
- {
- switch (descriptor)
+ case type::Descriptor::eObject:
+ {
+ for (auto it = type.begin(); it != type.end(); ++it)
{
- case type::Descriptor::eObject:
- {
- for (auto it = type.begin(); it != type.end(); ++it)
- {
- if (
- it.key() == io::Data::READER_WRITER_OBJECT_NAME_SLUG ||
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- it.key() == io::Data::READER_WRITER_##capsType##_TYPENAME_SLUG ||
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
- it.key() == io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG ||
- it.key() == io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG ||
- it.key() == io::Data::READER_WRITER_NDARRAY_NAME_SLUG ||
- it.key() == io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG ||
- it.key() == io::Data::READER_WRITER_NDARRAY_TYPE_SLUG
- )
- {
- continue;
- }
-
- allKeys.push_back(it.key());
- }
- maxIndex = allKeys.size();
- break;
- }
- case type::Descriptor::eDict:
+ if (it.key() == io::Data::READER_WRITER_NAME_SLUG)
{
- maxIndex = 1;
- break;
+ continue;
}
- case type::Descriptor::eTuple:
- {
- maxIndex = type.size();
- break;
- }
- case type::Descriptor::eList:
- {
- maxIndex = 1;
- break;
- }
- default:
- throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "NlohmannJSONReaderToken", "Received an invalid instance for a reader token.", desc);
+
+ allMemberNames.push_back(it.key());
}
+ childrenSize = allMemberNames.size();
+ elementName = element[io::Data::READER_WRITER_NAME_SLUG];
+ break;
}
-
- std::string getObjectName() const override
+ case type::Descriptor::eDict:
{
- if (descriptor == type::Descriptor::eObject)
- {
- return element[io::Data::READER_WRITER_OBJECT_NAME_SLUG];
- }
- throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Could not get object nme of a non-object token", descriptor);
+ childrenSize = 1;
+ break;
}
-
- type::Descriptor getTypeOfNextElement() const override
+ case type::Descriptor::eTuple:
+ {
+ childrenSize = element.size();
+ break;
+ }
+ case type::Descriptor::eList:
+ {
+ childrenSize = 1;
+ break;
+ }
+ case type::ePair:
{
- const nlohmann::json next = getCurrentElement();
+ childrenSize = 2;
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "NlohmannJSONReaderToken", "Received an invalid instance for a reader token.", desc);
+ }
+ }
- if (next.is_object())
- {
- if (next.find(io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG) != next.end())
- {
- return type::Descriptor::eDict;
- }
- if (next.find(io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG) != next.end())
- {
- return type::Descriptor::eList;
- }
- if (next.find(io::Data::READER_WRITER_NDARRAY_NAME_SLUG) != next.end())
- {
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == std::string(#upperType)) \
- { \
- return type::Descriptor::e##upperType; \
- }
+ type::Descriptor getTypeOfNext() const override
+ {
+ const nlohmann::json next = getNextElement();
- HANDLE_NDARRAY_TYPES
-#undef RUN_ARON_MACRO
- throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Found indicator of NDArray but could not resolve real type. Found JSON: " + next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG].dump(2));
- }
- return type::Descriptor::eObject;
+ if (next.is_object())
+ {
+ if (next.find(io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG) != next.end())
+ {
+ return type::eDict;
+ }
+ if (next.find(io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG) != next.end())
+ {
+ return type::eList;
+ }
+ if (next.find(io::Data::READER_WRITER_INT_ENUM_NAME_SLUG) != next.end())
+ {
+ return type::eIntEnum;
+ }
+ if (next.find(io::Data::READER_WRITER_NDARRAY_NAME_SLUG) != next.end())
+ {
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "EigenMatrix")
+ {
+ return type::eEigenMatrix;
}
- if (next.is_array())
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "EigenQuaternion")
{
- return type::Descriptor::eTuple;
+ return type::eEigenQuaternion;
}
- if (next.is_string())
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "IVTCByteImage")
{
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- if (next == io::Data::READER_WRITER_##capsType##_TYPENAME_SLUG) \
- { \
- return type::Descriptor::e##upperType; \
- }
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ return type::eIVTCByteImage;
}
- throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Could not convert to type::Descriptor enum. Found JSON: " + next.dump(2));
- }
-
- nlohmann::json getCurrentElement() const override
- {
- switch (descriptor)
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "OpenCVMat")
{
- case type::Descriptor::eObject:
- {
- nlohmann::json ret = element[resolveCurrentKey()];
- return ret;
- }
- case type::Descriptor::eDict:
- {
- nlohmann::json ret = element[io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG];
- return ret;
- }
- case type::Descriptor::eTuple:
- {
- nlohmann::json ret = element[currentIndex];
- return ret;
- }
- case type::Descriptor::eList:
- {
- nlohmann::json ret = element[io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG];
- return ret;
- }
- default:
- throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "getNextElement", "Could not resove a type of a navigator. Allowed are only container types due to performance", descriptor);
+ return type::eOpenCVMat;
+ }
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "PCLPointCloud")
+ {
+ return type::ePCLPointCloud;
+ }
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "Position")
+ {
+ return type::ePosition;
}
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "Orientation")
+ {
+ return type::eOrientation;
+ }
+ if (next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] == "Pose")
+ {
+ return type::ePose;
+ }
+ throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Found indicator of NDArray but could not resolve real type. Found JSON: " + next[io::Data::READER_WRITER_NDARRAY_NAME_SLUG].dump(2));
+ }
+ return type::eObject;
+ }
+ if (next.is_array())
+ {
+ return type::eTuple;
+ }
+ if (next.is_string())
+ {
+ if (next == io::Data::READER_WRITER_INT_TYPENAME_SLUG)
+ {
+ return type::eInt;
+ }
+ if (next == io::Data::READER_WRITER_LONG_TYPENAME_SLUG)
+ {
+ return type::eLong;
}
+ if (next == io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG)
+ {
+ return type::eFloat;
+ }
+ if (next == io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG)
+ {
+ return type::eDouble;
+ }
+ if (next == io::Data::READER_WRITER_STRING_TYPENAME_SLUG)
+ {
+ return type::eString;
+ }
+ if (next == io::Data::READER_WRITER_BOOL_TYPENAME_SLUG)
+ {
+ return type::eBool;
+ }
+ if (next == io::Data::READER_WRITER_TIME_TYPENAME_SLUG)
+ {
+ return type::eTime;
+ }
+ }
+ throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Could not convert to type::Descriptor enum. Found JSON: " + next.dump(2));
+ }
- private:
- };
+ nlohmann::json getNextElement() const override
+ {
+ assertIndexInBounds();
+
+ switch (descriptor)
+ {
+ case type::Descriptor::eObject:
+ {
+ return element[getCurrentKey()];
+ }
+ case type::Descriptor::eDict:
+ {
+ return element[io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG];
+ }
+ case type::Descriptor::eTuple:
+ {
+ return element[currentIndex];
+ }
+ case type::Descriptor::eList:
+ {
+ return element[io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG];
+ }
+ default:
+ throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "getNextElement", "Could not resove a type of a navigator. Allowed are only container types due to performance", descriptor);
+ }
+ }
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
index 52b3050fb7e333689bc34ccc8d021e0030ed3f8e..99005c64e9a148fad4cbf4b54932d10f68332a5a 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
@@ -31,119 +31,148 @@
namespace armarx::aron::typeIO
- {
+{
+
+ void Visitor::SetupWriterFromAronTypePtr(WriterInterface& writer, const typenavigator::NavigatorPtr& aron)
+ {
+ SetupWriterFromAronTypePtr(writer, aron->getResult());
+ }
- void Visitor::SetupWriterFromAronTypePtr(Writer& writer, const typenavigator::NavigatorPtr& aron)
+ void Visitor::SetupWriterFromAronTypePtr(WriterInterface& writer, const type::AronTypePtr& aron)
+ {
+ type::Descriptor desc = Resolver::GetDescriptor(aron);
+ switch (desc)
+ {
+ case type::eObject:
{
- SetupWriterFromAronTypePtr(writer, aron->getResult());
+ type::AronObjectPtr casted = type::AronObjectPtr::dynamicCast(aron);
+ writer.writeStartObject(casted->objectName);
+ for (const auto& [key, value] : casted->elementTypes)
+ {
+ writer.writeKey(key);
+ Visitor::SetupWriterFromAronTypePtr(writer, value);
+ }
+ writer.writeEndObject();
+ break;
}
-
- void Visitor::SetupWriterFromAronTypePtr(Writer& writer, const type::AronTypePtr& aron)
+ case type::eDict:
{
- type::Descriptor desc = Resolver::GetDescriptor(aron);
- switch (desc)
+ type::AronDictPtr casted = type::AronDictPtr::dynamicCast(aron);
+ writer.writeStartDict();
+ Visitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
+ writer.writeEndDict();
+ break;
+ }
+ case type::eTuple:
+ {
+ type::AronTuplePtr casted = type::AronTuplePtr::dynamicCast(aron);
+ writer.writeStartTuple();
+ for (const auto& value : casted->elementTypes)
{
- case type::eObject:
- {
- type::AronObjectPtr casted = type::AronObjectPtr::dynamicCast(aron);
- writer.writeStartObject();
- writer.writeObjectName(casted->objectName);
- for (const auto& [key, value] : casted->elementTypes)
- {
- writer.writeKey(key);
- Visitor::SetupWriterFromAronTypePtr(writer, value);
- }
- writer.writeEndObject();
- break;
- }
- case type::eDict:
- {
- type::AronDictPtr casted = type::AronDictPtr::dynamicCast(aron);
- writer.writeStartDict();
- Visitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
- writer.writeEndDict();
- break;
- }
- case type::eTuple:
- {
- type::AronTuplePtr casted = type::AronTuplePtr::dynamicCast(aron);
- writer.writeStartTuple();
- for (const auto& value : casted->elementTypes)
- {
- Visitor::SetupWriterFromAronTypePtr(writer, value);
- }
- writer.writeEndTuple();
- break;
- }
- case type::eList:
- {
- type::AronListPtr casted = type::AronListPtr::dynamicCast(aron);
- writer.writeStartList();
- Visitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
- writer.writeEndList();
- break;
- }
- case type::eEigenMatrix:
- {
- type::AronEigenMatrixPtr casted = type::AronEigenMatrixPtr::dynamicCast(aron);
- writer.writeEigenMatrix(casted->dimensions, casted->typeName);
- break;
- }
- case type::eEigenQuaternion:
- {
- type::AronEigenQuaternionPtr casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
- writer.writeEigenQuaternion(casted->typeName);
- break;
- }
- case type::eIVTCByteImage:
- {
- type::AronIVTCByteImagePtr casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
- writer.writeIVTCByteImage(casted->width, casted->height, casted->typeName);
- break;
- }
- case type::eOpenCVMat:
- {
- type::AronOpenCVMatPtr casted = type::AronOpenCVMatPtr::dynamicCast(aron);
- writer.writeOpenCVMat(casted->dimensions, casted->typeName);
- break;
- }
- case type::ePCLPointCloud:
- {
- type::AronPCLPointCloudPtr casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
- writer.writePCLPointCloud(casted->width, casted->height, casted->typeName);
- break;
- }
- case type::ePosition:
- {
- writer.writePosition();
- break;
- }
- case type::eOrientation:
- {
- writer.writeOrientation();
- break;
- }
- case type::ePose:
- {
- writer.writePose();
- break;
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case type::e##upperType: \
-{ \
- type::Aron##upperType##Ptr casted = type::Aron##upperType##Ptr::dynamicCast(aron); \
- writer.write##upperType(); \
- break; \
-}
-
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
-
- default:
- {
- throw error::DescriptorNotValidException("LegacyAronTypeWriter", "SetupWriterFromAronTypePtr", "Type-Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
- }
+ Visitor::SetupWriterFromAronTypePtr(writer, value);
}
+ writer.writeEndTuple();
+ break;
+ }
+ case type::eList:
+ {
+ type::AronListPtr casted = type::AronListPtr::dynamicCast(aron);
+ writer.writeStartList();
+ Visitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
+ writer.writeEndList();
+ break;
+ }
+ case type::eEigenMatrix:
+ {
+ type::AronEigenMatrixPtr casted = type::AronEigenMatrixPtr::dynamicCast(aron);
+ writer.writeEigenMatrix(casted->dimensions, casted->typeName);
+ break;
+ }
+ case type::eEigenQuaternion:
+ {
+ type::AronEigenQuaternionPtr casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
+ writer.writeEigenQuaternion(casted->typeName);
+ break;
+ }
+ case type::eIVTCByteImage:
+ {
+ type::AronIVTCByteImagePtr casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
+ writer.writeIVTCByteImage(casted->width, casted->height, casted->typeName);
+ break;
+ }
+ case type::eOpenCVMat:
+ {
+ type::AronOpenCVMatPtr casted = type::AronOpenCVMatPtr::dynamicCast(aron);
+ writer.writeOpenCVMat(casted->dimensions, casted->typeName);
+ break;
+ }
+ case type::ePCLPointCloud:
+ {
+ type::AronPCLPointCloudPtr casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
+ writer.writePCLPointCloud(casted->width, casted->height, casted->typeName);
+ break;
+ }
+ case type::ePosition:
+ {
+ writer.writePosition();
+ break;
+ }
+ case type::eOrientation:
+ {
+ writer.writeOrientation();
+ break;
+ }
+ case type::ePose:
+ {
+ writer.writePose();
+ break;
+ }
+ case type::eInt:
+ {
+ type::AronIntPtr casted = type::AronIntPtr::dynamicCast(aron);
+ writer.writeInt();
+ break;
+ }
+ case type::eLong:
+ {
+ type::AronLongPtr casted = type::AronLongPtr::dynamicCast(aron);
+ writer.writeLong();
+ break;
+ }
+ case type::eFloat:
+ {
+ type::AronFloatPtr casted = type::AronFloatPtr::dynamicCast(aron);
+ writer.writeFloat();
+ break;
+ }
+ case type::eDouble:
+ {
+ type::AronDoublePtr casted = type::AronDoublePtr::dynamicCast(aron);
+ writer.writeDouble();
+ break;
+ }
+ case type::eString:
+ {
+ type::AronStringPtr casted = type::AronStringPtr::dynamicCast(aron);
+ writer.writeString();
+ break;
+ }
+ case type::eBool:
+ {
+ type::AronBoolPtr casted = type::AronBoolPtr::dynamicCast(aron);
+ writer.writeBool();
+ break;
+ }
+ case type::eTime:
+ {
+ type::AronTimePtr casted = type::AronTimePtr::dynamicCast(aron);
+ writer.writeTime();
+ break;
+ }
+ default:
+ {
+ throw error::DescriptorNotValidException("LegacyAronTypeWriter", "SetupWriterFromAronTypePtr", "Type-Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
}
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h
index a5f86273b8283f2292d9333b93cfa8df2714d777..6f781b3dae61236e202ffffd0fd243f89732f5d7 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h
@@ -41,8 +41,8 @@ namespace armarx::aron::typeIO
Visitor() = delete;
public:
- static void SetupWriterFromAronTypePtr(Writer&, const typenavigator::NavigatorPtr&);
- static void SetupWriterFromAronTypePtr(Writer&, const type::AronTypePtr&);
+ static void SetupWriterFromAronTypePtr(WriterInterface&, const typenavigator::NavigatorPtr&);
+ static void SetupWriterFromAronTypePtr(WriterInterface&, const type::AronTypePtr&);
public:
};
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h
index 80f32a7c6d243ab93b0989ab201296f95f6350c8..6ba53b81acec39ec84792402e3066e901aef27b8 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h
@@ -20,76 +20,5 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <stack>
-
-// ArmarX
-#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
-
-
-
-namespace armarx::aron::typeIO
- {
- template <typename GeneratePtr, typename TokenPtr>
- class TokenizedWriter;
-
- template <typename GeneratePtr, typename TokenPtr>
- using TokenizedWriterPtr = std::shared_ptr<TokenizedWriter<GeneratePtr, TokenPtr>>;
-
- template <typename GeneratePtr, typename TokenPtr>
- class TokenizedWriter :
- virtual public Writer
- {
- public:
- TokenizedWriter() = default;
-
- virtual bool writeKey(const std::string& k) override
- {
- TokenPtr token = stack.top();
- token->setCurrentKey(k);
- return true;
- }
-
- bool writeObjectName(const std::string& n)
- {
- TokenPtr token = stack.top();
- token->setObjectName(n);
- return true;
- }
-
- GeneratePtr getResult() const
- {
- assertLastRemovedTokenIsSet();
- assertStackIsEmpty();
- return lastRemovedToken->getElement();
- }
-
- protected:
- void assertLastRemovedTokenIsSet() const
- {
- if (lastRemovedToken == nullptr)
- {
- throw error::AronException("ClassWriter", "assertLastRemovedTokenIsSet", "lastRemovedToken is NULL. Perhaps you never called a writeEnd* method?");
- }
- if (lastRemovedToken->getElement() == nullptr)
- {
- throw error::AronException("ClassWriter", "assertLastRemovedTokenIsSet", "lastRemovedToken->getElement() is NULL.");
- }
- }
- void assertStackIsEmpty() const
- {
- if (stack.size() != 0)
- {
- throw error::AronException("ClassWriter", "assertStackIsEmpty", "The Size of the stack is not 0. Perhaps you never called a writeEnd* method?");
- }
- }
-
- protected:
- bool wroteInitialStartContainer = false;
- TokenPtr lastRemovedToken;
- std::stack<TokenPtr> stack;
- };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/WriterToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/WriterToken.h
index c3742cb4cddd99c3b39348806c0897a82a7bfa96..315be70a3e9096d0b264c8f9e27ecb0e1e80bc1e 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/WriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/WriterToken.h
@@ -29,51 +29,73 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/io/Data.h>
namespace armarx::aron::typeIO
{
- template<typename ElementPtrTypename, typename ElementAddTypename>
- class WriterToken;
+ template<typename ElementTypename>
+ class WriterTokenInterface;
- template<typename ElementPtrTypename, typename ElementAddTypename>
- using WriterTokenPtr = std::shared_ptr<WriterToken<ElementPtrTypename, ElementAddTypename>>;
+ template<typename ElementTypename>
+ using WriterTokenInterfacePtr = std::shared_ptr<WriterTokenInterface<ElementTypename>>;
- template<typename ElementPtrTypename, typename ElementAddTypename>
- class WriterToken :
- virtual public io::WriterToken<type::Descriptor, ElementPtrTypename, ElementAddTypename>
+ template<typename ElementTypename>
+ class WriterTokenInterface
+ {
+ public:
+ using PointerType = WriterTokenInterfacePtr<ElementTypename>;
+
+ // Interface
+ virtual void addElement(const ElementTypename&) = 0;
+ virtual void setName(const std::string&) = 0;
+
+ // General implementation
+ std::string toAccessor() const
+ {
+ type::Descriptor desc = this->getDescriptor();
+ switch (desc)
+ {
+ case type::Descriptor::eDict:
+ case type::Descriptor::eList:
+ return "[ACCEPTED_TYPE]";
+ case type::Descriptor::eObject:
+ return this->currentKey;
+ case type::Descriptor::eTuple:
+ return std::to_string(this->currentIndex);
+ default:
+ throw error::DescriptorNotValidException("NavigatorWriterToken", "toElementAccessor", "Could not resove a type of a navigator. Allowed are only containers.", desc);
+ }
+ }
+
+ void setCurrentKey(const std::string& s)
+ {
+ if (s.empty())
{
- public:
- using PointerType = WriterToken<ElementPtrTypename, ElementAddTypename>;
+ throw error::AronException("AronWriterToken", "setCurrentKey", "The passed key is empty.");
+ }
+ currentKey = s;
+ }
- public:
- // constructor
- WriterToken() = delete;
- WriterToken(const type::Descriptor desc, const ElementPtrTypename& n) :
- io::WriterToken<type::Descriptor, ElementPtrTypename, ElementAddTypename>(desc, n)
- {}
+ ElementTypename getElement() const
+ {
+ return element;
+ }
- // public member functions
- virtual void addElement(const ElementAddTypename&) = 0;
+ type::Descriptor getDescriptor() const
+ {
+ return descriptor;
+ }
- virtual std::string toElementAccessor() const override
- {
- type::Descriptor desc = this->getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eDict:
- case type::Descriptor::eList:
- return "[ACCEPTED_TYPE]";
- case type::Descriptor::eObject:
- return "\"" + this->currentKey + "\"";
- case type::Descriptor::eTuple:
- return "<" + std::to_string(this->currentIndex) + ">";
- default:
- throw error::DescriptorNotValidException("NavigatorWriterToken", "toElementAccessor", "Could not resove a type of a navigator. Allowed are only containers.", desc);
- }
- }
+ protected:
+ // members
+ type::Descriptor descriptor = type::eUnknown;
+ ElementTypename element;
- virtual void setObjectName(const std::string& n) = 0;
+ // current index
+ unsigned int currentIndex = 0;
- private:
- };
+ // current key
+ std::string currentKey = "";
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index 19f58a42a90b7e0d3d58bb647731fd48353d57ab..06e8c00764ed0c3c446c7fdb2b1448a780d085cb 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -34,144 +34,260 @@
#include <RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h>
#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h>
+namespace armarx::aron::typeIO::writer
+{
+ // generate Path info
+ Path NavigatorWriter::generatePath()
+ {
+ Path path;
+ if (!wroteInitialStartObject)
+ {
+ wroteInitialStartObject = true;
+ }
+ else
+ {
+ auto current = stack.top();
+ path = Path(current->getElement()->getPath(), current->toAccessor());
+ }
+ return path;
+ }
+ // interface
+ void NavigatorWriter::writeStartObject(const std::string& n)
+ {
+ Path path = generatePath();
+ auto type = std::make_shared<typenavigator::ObjectNavigator>(path);
+ type->setObjectName(n);
+ auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
+ stack.push(new_token);
+ }
-namespace armarx::aron::typeIO::writer
+ void NavigatorWriter::writeEndObject()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
{
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
- Path NavigatorWriter::generatePath()
- {
- Path path;
- if (!wroteInitialStartContainer)
- {
- wroteInitialStartContainer = true;
- }
- else
- {
- NavigatorWriterTokenPtr parent_token = stack.top();
- path = Path(parent_token->getElement()->getPath(), parent_token->toElementAccessor());
- }
- return path;
- }
-
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NavigatorWriter::writeStart##upperType() \
- { \
- Path path = generatePath(); \
- typenavigator::upperType##NavigatorPtr type = typenavigator::upperType##NavigatorPtr(new typenavigator::upperType##Navigator(path)); \
- NavigatorWriterTokenPtr new_token = NavigatorWriterTokenPtr(new NavigatorWriterToken(type->getDescriptor(), type)); \
- stack.push(new_token); \
- return true; \
- } \
- bool NavigatorWriter::writeEnd##upperType() \
- { \
- lastRemovedToken = stack.top(); \
- stack.pop(); \
- \
- if (stack.size() > 0) \
- { \
- NavigatorWriterTokenPtr prevToken = stack.top(); \
- prevToken->addElement(lastRemovedToken->getElement()); \
- } \
- return true; \
- }
-
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
-
-bool NavigatorWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::EigenMatrixNavigatorPtr aron(new typenavigator::EigenMatrixNavigator(path));
- aron->setTypename(t);
- aron->setDimensions(dims);
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeStartDict()
+ {
+ Path path = generatePath();
+ auto type = std::make_shared<typenavigator::DictNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
+ stack.push(new_token);
+ }
-bool NavigatorWriter::writeEigenQuaternion(const std::string& t)
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::EigenQuaternionNavigatorPtr aron(new typenavigator::EigenQuaternionNavigator(path));
- aron->setTypename(t);
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeEndDict()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
-bool NavigatorWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::IVTCByteImageNavigatorPtr aron(new typenavigator::IVTCByteImageNavigator(path));
- aron->setTypename(t);
- aron->setWidth(w);
- aron->setHeight(h);
- token->addElement(aron);
- return true;
-}
+ if (stack.size() > 0)
+ {
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
-bool NavigatorWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::OpenCVMatNavigatorPtr aron(new typenavigator::OpenCVMatNavigator(path));
- aron->setTypename(t);
- aron->setDimensions(dims);
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeStartList()
+ {
+ Path path = generatePath();
+ auto type = std::make_shared<typenavigator::ListNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
+ stack.push(new_token);
+ }
-bool NavigatorWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::PCLPointCloudNavigatorPtr aron(new typenavigator::PCLPointCloudNavigator(path));
- aron->setTypename(t);
- aron->setWidth(w);
- aron->setHeight(h);
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeEndList()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
-bool NavigatorWriter::writePosition()
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::PositionNavigatorPtr aron(new typenavigator::PositionNavigator(path));
- token->addElement(aron);
- return true;
-}
+ if (stack.size() > 0)
+ {
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
-bool NavigatorWriter::writeOrientation()
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::OrientationNavigatorPtr aron(new typenavigator::OrientationNavigator(path));
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeStartTuple()
+ {
+ Path path = generatePath();
+ auto type = std::make_shared<typenavigator::TupleNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
+ stack.push(new_token);
+ }
-bool NavigatorWriter::writePose()
-{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- typenavigator::PoseNavigatorPtr aron(new typenavigator::PoseNavigator(path));
- token->addElement(aron);
- return true;
-}
+ void NavigatorWriter::writeEndTuple()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NavigatorWriter::write##upperType() \
- { \
- Path path = generatePath(); \
- NavigatorWriterTokenPtr token = stack.top(); \
- typenavigator::upperType##NavigatorPtr aron(new typenavigator::upperType##Navigator(path)); \
- token->addElement(aron); \
- return true; \
+ void NavigatorWriter::writeStartPair()
+ {
+ Path path = generatePath();
+ auto type = std::make_shared<typenavigator::PairNavigator>(path);
+ auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
+ stack.push(new_token);
}
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ void NavigatorWriter::writeEndPair()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ auto prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
+
+ void NavigatorWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::EigenMatrixNavigatorPtr aron(new typenavigator::EigenMatrixNavigator(path));
+ aron->setTypename(t);
+ aron->setDimensions(dims);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeEigenQuaternion(const std::string& t)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::EigenQuaternionNavigatorPtr aron(new typenavigator::EigenQuaternionNavigator(path));
+ aron->setTypename(t);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::IVTCByteImageNavigatorPtr aron(new typenavigator::IVTCByteImageNavigator(path));
+ aron->setTypename(t);
+ aron->setWidth(w);
+ aron->setHeight(h);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::OpenCVMatNavigatorPtr aron(new typenavigator::OpenCVMatNavigator(path));
+ aron->setTypename(t);
+ aron->setDimensions(dims);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::PCLPointCloudNavigatorPtr aron(new typenavigator::PCLPointCloudNavigator(path));
+ aron->setTypename(t);
+ aron->setWidth(w);
+ aron->setHeight(h);
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePosition()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::PositionNavigatorPtr aron(new typenavigator::PositionNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeOrientation()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::OrientationNavigatorPtr aron(new typenavigator::OrientationNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writePose()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::PoseNavigatorPtr aron(new typenavigator::PoseNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeInt()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::IntNavigatorPtr aron(new typenavigator::IntNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeLong()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::LongNavigatorPtr aron(new typenavigator::LongNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeFloat()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::FloatNavigatorPtr aron(new typenavigator::FloatNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeDouble()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::DoubleNavigatorPtr aron(new typenavigator::DoubleNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeString()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::StringNavigatorPtr aron(new typenavigator::StringNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeBool()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::BoolNavigatorPtr aron(new typenavigator::BoolNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeTime()
+ {
+ Path path = generatePath();
+ NavigatorWriterTokenPtr token = stack.top();
+ typenavigator::TimeNavigatorPtr aron(new typenavigator::TimeNavigator(path));
+ token->addElement(aron);
+ }
+
+ void NavigatorWriter::writeKey(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
index 83697bd3ab2484fdd3fbaa284143348855eb721d..00b7ed96e3789deb7f72a6f370b2a8fbb9371576 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
@@ -25,7 +25,7 @@
#include <stack>
// BaseClass
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Concepts.h>
@@ -34,40 +34,55 @@
namespace armarx::aron::typeIO::writer
{
- class NavigatorWriter;
- typedef std::shared_ptr<NavigatorWriter> NavigatorWriterPtr;
+ class NavigatorWriter;
+ typedef std::shared_ptr<NavigatorWriter> NavigatorWriterPtr;
- class NavigatorWriter :
- virtual public TokenizedWriter<typenavigator::NavigatorPtr, NavigatorWriterTokenPtr>
- {
- public:
- NavigatorWriter() = default;
+ class NavigatorWriter :
+ virtual public typeIO::WriterInterface
+ {
+ public:
+ NavigatorWriter() = default;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() override; \
- virtual bool writeEnd##upperType() override;
+ virtual void writeStartObject(const std::string&) override;
+ virtual void writeEndObject() override;
+ virtual void writeStartList() override;
+ virtual void writeEndList() override;
+ virtual void writeStartDict() override;
+ virtual void writeEndDict() override;
+ virtual void writeStartTuple() override;
+ virtual void writeEndTuple() override;
+ virtual void writeStartPair() override;
+ virtual void writeEndPair() override;
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
+ virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) override;
+ virtual void writeEigenQuaternion(const std::string&) override;
+ virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
+ virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) override;
+ virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
+ virtual void writePosition() override;
+ virtual void writeOrientation() override;
+ virtual void writePose() override;
- virtual bool writeEigenMatrix(const std::vector<int>&, const std::string&) override;
- virtual bool writeEigenQuaternion(const std::string&) override;
- virtual bool writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
- virtual bool writeOpenCVMat(const std::vector<int>&, const std::string&) override;
- virtual bool writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
- virtual bool writePosition() override;
- virtual bool writeOrientation() override;
- virtual bool writePose() override;
+ virtual void writeInt() override;
+ virtual void writeLong() override;
+ virtual void writeFloat() override;
+ virtual void writeDouble() override;
+ virtual void writeString() override;
+ virtual void writeBool() override;
+ virtual void writeTime() override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType() override;
+ virtual void writeKey(const std::string&) override;
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ typenavigator::NavigatorPtr getResult() const
+ {
+ return lastRemovedToken->getElement();
+ }
- private:
- Path generatePath();
+ private:
+ bool wroteInitialStartObject = false;
+ NavigatorWriterTokenPtr lastRemovedToken = nullptr;
+ std::stack<NavigatorWriterTokenPtr> stack = {};
- private:
- };
+ Path generatePath();
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h
index bfc6905a6e45a21092ab6f7778aab5b0a0d94eea..20b337298c61c58e0665fb1bcf21bb54eb1d845d 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h
@@ -33,67 +33,89 @@
namespace armarx::aron::typeIO::writer
{
- class NavigatorWriterToken;
- typedef std::shared_ptr<NavigatorWriterToken> NavigatorWriterTokenPtr;
+ class NavigatorWriterToken;
+ typedef std::shared_ptr<NavigatorWriterToken> NavigatorWriterTokenPtr;
- class NavigatorWriterToken :
- virtual public WriterToken<typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>
- {
- public:
- using PointerType = NavigatorWriterTokenPtr;
+ class NavigatorWriterToken :
+ virtual public WriterTokenInterface<typenavigator::NavigatorPtr>
+ {
+ public:
+ using PointerType = NavigatorWriterTokenPtr;
+
+ public:
+ // constructor
+ NavigatorWriterToken() = delete;
+ NavigatorWriterToken(const type::Descriptor desc, const typenavigator::NavigatorPtr& t)
+ {
+ descriptor = desc;
+ element = t;
+ }
- public:
- // constructor
- NavigatorWriterToken() = delete;
- NavigatorWriterToken(const type::Descriptor desc, const typenavigator::NavigatorPtr& t) :
- io::WriterToken<type::Descriptor, typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>(desc, t),
- WriterToken<typenavigator::NavigatorPtr, typenavigator::NavigatorPtr>(desc, t)
+ // virtual member functions
+ virtual void addElement(const typenavigator::NavigatorPtr& n) override
+ {
+ switch (descriptor)
+ {
+ case type::eDict:
{
+ typenavigator::DictNavigatorPtr casted = typenavigator::DictNavigator::DynamicCastAndCheck(element);
+ casted->setAcceptedType(n);
+ break;
}
-
- // virtual member functions
- virtual void addElement(const typenavigator::NavigatorPtr& n) override
+ case type::eList:
+ {
+ typenavigator::ListNavigatorPtr casted = typenavigator::ListNavigator::DynamicCastAndCheck(element);
+ casted->setAcceptedType(n);
+ break;
+ }
+ case type::eObject:
+ {
+ typenavigator::ObjectNavigatorPtr casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(element);
+ casted->addMemberType(currentKey, n);
+ break;
+ }
+ case type::eTuple:
{
- switch (descriptor)
- {
- case type::Descriptor::eDict:
- {
- typenavigator::DictNavigatorPtr casted = typenavigator::DictNavigator::DynamicCastAndCheck(element);
- casted->setAcceptedType(n);
- break;
- }
- case type::Descriptor::eList:
- {
- typenavigator::ListNavigatorPtr casted = typenavigator::ListNavigator::DynamicCastAndCheck(element);
- casted->setAcceptedType(n);
- break;
- }
- case type::Descriptor::eObject:
- {
- typenavigator::ObjectNavigatorPtr casted = typenavigator::ObjectNavigator::DynamicCastAndCheck(element);
- casted->addMemberType(currentKey, n);
- break;
- }
- case type::Descriptor::eTuple:
- {
- typenavigator::TupleNavigatorPtr casted = typenavigator::TupleNavigator::DynamicCastAndCheck(element);
- casted->addAcceptedType(n);
- currentIndex++;
- break;
- }
- default:
- throw error::DescriptorNotValidException("NavigatorWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers. The path was: " + getElement()->pathToString(), descriptor);
- }
+ typenavigator::TupleNavigatorPtr casted = typenavigator::TupleNavigator::DynamicCastAndCheck(element);
+ casted->addAcceptedType(n);
+ currentIndex++;
+ break;
}
+ case type::ePair:
+ {
+ typenavigator::PairNavigatorPtr casted = typenavigator::PairNavigator::DynamicCastAndCheck(element);
+ casted->addAcceptedType(n);
+ currentIndex++;
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NavigatorWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers. The path was: " + getElement()->pathToString(), descriptor);
+ }
+ }
- virtual void setObjectName(const std::string& n) override
+
+ virtual void setName(const std::string& n) override
+ {
+ switch (descriptor)
+ {
+ case type::eObject:
{
- if (descriptor != type::Descriptor::eObject)
- {
- throw error::DescriptorNotValidException("NavigatorWriterToken", "setName", "Cant set the name of a non-object token. The path was: " + getElement()->pathToString(), descriptor);
- }
typenavigator::ObjectNavigatorPtr casted = typenavigator::ObjectNavigator::DynamicCast(element);
casted->setObjectName(n);
+ break;
}
- };
+ case type::eIntEnum:
+ {
+ typenavigator::IntEnumNavigatorPtr casted = typenavigator::IntEnumNavigator::DynamicCast(element);
+ casted->setEnumName(n);
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NavigatorWriterToken", "setName", "Cant set the name of a non-object or non-enum token. The path was: " + getElement()->pathToString(), descriptor);
+
+ }
+ }
+
+ private:
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index a3a18a83122d9d0ba3df79eabccd4d244bad9f04..187c648096a0fa0e3c9e3b406b1dbc4a7f0b1dcf 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -24,121 +24,229 @@
#include "NlohmannJSONWriter.h"
namespace armarx::aron::typeIO::writer
- {
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NlohmannJSONWriter::writeStart##upperType() \
- { \
- nlohmann::json data; \
- NlohmannJSONWriterTokenPtr new_token = NlohmannJSONWriterTokenPtr(new NlohmannJSONWriterToken(type::Descriptor::e##upperType, data)); \
- stack.push(new_token); \
- return true; \
- } \
- bool NlohmannJSONWriter::writeEnd##upperType() \
- { \
- lastRemovedToken = stack.top(); \
- stack.pop(); \
- \
- if (stack.size() > 0) \
- { \
- NlohmannJSONWriterTokenPtr prevToken = stack.top(); \
- prevToken->addElement(lastRemovedToken->getElement()); \
- } \
- return true; \
- }
-
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
-
-bool NlohmannJSONWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenMatrix";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
- token->addElement(j);
- return true;
-}
-bool NlohmannJSONWriter::writeEigenQuaternion(const std::string& t)
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenQuaternion";
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
- token->addElement(j);
- return true;
-}
+ void NlohmannJSONWriter::writeStartObject(const std::string& n)
+ {
+ nlohmann::json data;
+ data[io::Data::READER_WRITER_NAME_SLUG] = n;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
+ stack.push(new_token);
+ }
-bool NlohmannJSONWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "IVTCByteImage";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
- token->addElement(j);
- return true;
-}
+ void NlohmannJSONWriter::writeEndObject()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
-bool NlohmannJSONWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "OpenCVMat";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
- token->addElement(j);
- return true;
-}
+ if (stack.size() > 0)
+ {
+ NlohmannJSONWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
-bool NlohmannJSONWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "PCLPointCloud";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
- token->addElement(j);
- return true;
-}
+ void NlohmannJSONWriter::writeStartList()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
+ stack.push(new_token);
+ }
-bool NlohmannJSONWriter::writePosition()
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Position";
- token->addElement(j);
- return true;
-}
+ void NlohmannJSONWriter::writeEndList()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
-bool NlohmannJSONWriter::writeOrientation()
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Orientation";
- token->addElement(j);
- return true;
-}
+ if (stack.size() > 0)
+ {
+ NlohmannJSONWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
-bool NlohmannJSONWriter::writePose()
-{
- NlohmannJSONWriterTokenPtr token = stack.top();
- nlohmann::json j;
- j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Pose";
- token->addElement(j);
- return true;
-}
+ void NlohmannJSONWriter::writeStartDict()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
+ stack.push(new_token);
+ }
+
+ void NlohmannJSONWriter::writeEndDict()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ NlohmannJSONWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
+
+ void NlohmannJSONWriter::writeStartTuple()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
+ stack.push(new_token);
+ }
+
+ void NlohmannJSONWriter::writeEndTuple()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ NlohmannJSONWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
+
+ void NlohmannJSONWriter::writeStartPair()
+ {
+ nlohmann::json data;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
+ stack.push(new_token);
+ }
+
+ void NlohmannJSONWriter::writeEndPair()
+ {
+ lastRemovedToken = stack.top();
+ stack.pop();
+
+ if (stack.size() > 0)
+ {
+ NlohmannJSONWriterTokenPtr prevToken = stack.top();
+ prevToken->addElement(lastRemovedToken->getElement());
+ }
+ }
+
+ void NlohmannJSONWriter::writeEigenMatrix(const std::vector<int>& dims, const std::string& t)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenMatrix";
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeEigenQuaternion(const std::string& t)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenQuaternion";
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeIVTCByteImage(unsigned int w, unsigned int h, const std::string& t)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "IVTCByteImage";
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeOpenCVMat(const std::vector<int>& dims, const std::string& t)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "OpenCVMat";
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writePCLPointCloud(unsigned int w, unsigned int h, const std::string& t)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "PCLPointCloud";
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {w, h};
+ j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writePosition()
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Position";
+ token->addElement(j);
+ }
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- bool NlohmannJSONWriter::write##upperType() \
- { \
- NlohmannJSONWriterTokenPtr token = stack.top(); \
- nlohmann::json j(io::Data::READER_WRITER_##capsType##_TYPENAME_SLUG); \
- token->addElement(j); \
- return true; \
+ void NlohmannJSONWriter::writeOrientation()
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Orientation";
+ token->addElement(j);
}
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ void NlohmannJSONWriter::writePose()
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Pose";
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeInt()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_INT_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeLong()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_LONG_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeFloat()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeDouble()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeString()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_STRING_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeBool()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_BOOL_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeTime()
+ {
+ auto token = stack.top();
+ nlohmann::json j(io::Data::READER_WRITER_TIME_TYPENAME_SLUG);
+ token->addElement(j);
+ }
+
+ void NlohmannJSONWriter::writeKey(const std::string& k)
+ {
+ auto token = stack.top();
+ token->setCurrentKey(k);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
index b200765cdf3b7d8aadaf0bba9d871abe36a103b6..7826f895e8e9fec9f3a98a12413ed1f39d12a9e9 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -26,43 +26,60 @@
#include <sstream>
// Base Class
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/Writer.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Concepts.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h>
namespace armarx::aron::typeIO::writer
- {
- class NlohmannJSONWriter :
- virtual public TokenizedWriter<nlohmann::json, NlohmannJSONWriterTokenPtr>
- {
- public:
- NlohmannJSONWriter() = default;
+{
+ class NlohmannJSONWriter :
+ virtual public WriterInterface
+ {
+ public:
+ NlohmannJSONWriter() = default;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool writeStart##upperType() override; \
- virtual bool writeEnd##upperType() override;
+ virtual void writeStartObject(const std::string&) override;
+ virtual void writeEndObject() override;
+ virtual void writeStartList() override;
+ virtual void writeEndList() override;
+ virtual void writeStartDict() override;
+ virtual void writeEndDict() override;
+ virtual void writeStartTuple() override;
+ virtual void writeEndTuple() override;
+ virtual void writeStartPair() override;
+ virtual void writeEndPair() override;
- HANDLE_CONTAINER_TYPES
-#undef RUN_ARON_MACRO
+ virtual void writeEigenMatrix(const std::vector<int>&, const std::string&) override;
+ virtual void writeEigenQuaternion(const std::string&) override;
+ virtual void writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
+ virtual void writeOpenCVMat(const std::vector<int>&, const std::string&) override;
+ virtual void writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
+ virtual void writePosition() override;
+ virtual void writeOrientation() override;
+ virtual void writePose() override;
- virtual bool writeEigenMatrix(const std::vector<int>&, const std::string&) override;
- virtual bool writeEigenQuaternion(const std::string&) override;
- virtual bool writeIVTCByteImage(unsigned int w, unsigned int h, const std::string&) override;
- virtual bool writeOpenCVMat(const std::vector<int>&, const std::string&) override;
- virtual bool writePCLPointCloud(unsigned int w, unsigned int h, const std::string&) override;
- virtual bool writePosition() override;
- virtual bool writeOrientation() override;
- virtual bool writePose() override;
+ virtual void writeInt() override;
+ virtual void writeLong() override;
+ virtual void writeFloat() override;
+ virtual void writeDouble() override;
+ virtual void writeString() override;
+ virtual void writeBool() override;
+ virtual void writeTime() override;
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- virtual bool write##upperType() override;
+ virtual void writeKey(const std::string&) override;
- HANDLE_PRIMITIVE_TYPES
-#undef RUN_ARON_MACRO
+ nlohmann::json getResult() const
+ {
+ return lastRemovedToken->getElement();
+ }
- private:
+ private:
+ bool wroteInitialStartObject = false;
+ NlohmannJSONWriterTokenPtr lastRemovedToken = nullptr;
+ std::stack<NlohmannJSONWriterTokenPtr> stack = {};
- };
+ Path generatePath();
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
index e6c5a10753697202e46076059ad3dc2e7e8495e2..826524dddcd7c6a7d2e8bf7919240bb7d1b109b0 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
@@ -32,68 +32,78 @@
// ArmarX
#include <RobotAPI/libraries/aron/core/Config.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
namespace armarx::aron::typeIO::writer
+{
+ class NlohmannJSONWriterToken;
+ typedef std::shared_ptr<NlohmannJSONWriterToken> NlohmannJSONWriterTokenPtr;
+
+ class NlohmannJSONWriterToken :
+ virtual public WriterTokenInterface<nlohmann::json>
+ {
+ public:
+ using PointerType = NlohmannJSONWriterTokenPtr;
+
+ public:
+ // constructor
+ NlohmannJSONWriterToken() = delete;
+ NlohmannJSONWriterToken(const type::Descriptor desc, const nlohmann::json& t)
{
- class NlohmannJSONWriterToken;
- typedef std::shared_ptr<NlohmannJSONWriterToken> NlohmannJSONWriterTokenPtr;
+ descriptor = desc;
+ element = t;
+ }
- class NlohmannJSONWriterToken :
- virtual public WriterToken<nlohmann::json, nlohmann::json>
+ // virtual member functions
+ virtual void addElement(const nlohmann::json& n) override
+ {
+ auto desc = getDescriptor();
+ switch (desc)
{
- public:
- using PointerType = NlohmannJSONWriterTokenPtr;
-
- public:
- // constructor
- NlohmannJSONWriterToken() = delete;
- NlohmannJSONWriterToken(const type::Descriptor desc, const nlohmann::json& t) :
- io::WriterToken<type::Descriptor, nlohmann::json, nlohmann::json>(desc, t),
- WriterToken<nlohmann::json, nlohmann::json>(desc, t)
+ case type::Descriptor::eDict:
{
+ element[io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG] = n;
+ break;
}
-
- // virtual member functions
- virtual void addElement(const nlohmann::json& n) override
+ case type::Descriptor::eList:
{
- auto desc = getDescriptor();
- switch (desc)
- {
- case type::Descriptor::eDict:
- {
- element[io::Data::READER_WRITER_DICT_ACCEPTED_TYPE_SLUG] = n;
- break;
- }
- case type::Descriptor::eList:
- {
- element[io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG] = n;
- break;
- }
- case type::Descriptor::eObject:
- {
- element[currentKey] = n;
- break;
- }
- case type::Descriptor::eTuple:
- {
- element.push_back(n);
- break;
- }
- default:
- throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers.", desc);
- }
+ element[io::Data::READER_WRITER_LIST_ACCEPTED_TYPE_SLUG] = n;
+ break;
}
-
-
- // name functions
- void setObjectName(const std::string& n) override
+ case type::Descriptor::eObject:
{
- auto desc = getDescriptor();
- if (desc != type::Descriptor::eObject)
- {
- throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "setName", "Cant set the name of a non-object token.", desc);
- }
- element[io::Data::READER_WRITER_OBJECT_NAME_SLUG] = n;
+ element[currentKey] = n;
+ break;
}
- };
+ case type::Descriptor::eTuple:
+ {
+ element.push_back(n);
+ break;
+ }
+ default:
+ throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "addElement", "Could not resove a type of a navigator. Allowed are only containers.", desc);
+ }
+ }
+
+ void setName(const std::string& n) override
+ {
+ auto desc = getDescriptor();
+ if (desc != type::Descriptor::eObject)
+ {
+ throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "setName", "Cant set the name of a non-object token.", desc);
+ }
+ element[io::Data::READER_WRITER_NAME_SLUG] = n;
+ }
+
+ private:
+ // members
+ type::Descriptor descriptor;
+ nlohmann::json element;
+
+ // current index
+ unsigned int currentIndex;
+
+ // current key
+ std::string currentKey;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
index f1d5285a7e39b09cf8a3cdcd05aa681bed007a84..fd14e22ead4f1610d4f4faf4d065396f850496bc 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
@@ -26,70 +26,76 @@
namespace armarx::aron::typenavigator
- {
- // constructors
- DictNavigator::DictNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
- Navigator(type::Descriptor::eDict, path),
- type(new type::AronDict())
- {
+{
+ // constructors
+ DictNavigator::DictNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
+ Navigator(type::Descriptor::eDict, path),
+ type(new type::AronDict())
+ {
- }
+ }
- DictNavigator::DictNavigator(const type::AronDictPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
- Navigator(type::Descriptor::eDict, path),
- type(o)
- {
- CheckAronPtrForNull("DictNavigator", "DictNavigator", getPath(), o);
- acceptedType = FromAronType(o->acceptedType);
- }
+ DictNavigator::DictNavigator(const type::AronDictPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eDict, path),
+ Navigator(type::Descriptor::eDict, path),
+ type(o)
+ {
+ CheckAronPtrForNull("DictNavigator", "DictNavigator", getPath(), o);
+ acceptedType = FromAronType(o->acceptedType);
+ }
- NavigatorPtr DictNavigator::getAcceptedType() const
- {
- return acceptedType;
- }
+ NavigatorPtr DictNavigator::getAcceptedType() const
+ {
+ return acceptedType;
+ }
- void DictNavigator::setAcceptedType(const NavigatorPtr& a)
- {
- type->acceptedType = a->getResult();
- acceptedType = a;
- }
+ void DictNavigator::setAcceptedType(const NavigatorPtr& a)
+ {
+ type->acceptedType = a->getResult();
+ acceptedType = a;
+ }
- // static methods
- DictNavigatorPtr DictNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<DictNavigator>(n);
- }
+ type::AronDictPtr DictNavigator::toAronDictPtr() const
+ {
+ CheckAronPtrForNull("DictNavigator", "getResult", getPath(), type->acceptedType);
+ return type;
+ }
- DictNavigatorPtr DictNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("DictNavigator", "DynamicCastAndCheck[Before]", n);
- DictNavigatorPtr casted = DictNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("DictNavigator", "DynamicCastAndCheck[After]", n->getPath(), casted);
- return casted;
- }
+ // static methods
+ DictNavigatorPtr DictNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<DictNavigator>(n);
+ }
- // virtual implementations
- std::vector<NavigatorPtr> DictNavigator::getChildren() const
- {
- return {acceptedType};
- }
+ DictNavigatorPtr DictNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("DictNavigator", "DynamicCastAndCheck[Before]", n);
+ DictNavigatorPtr casted = DictNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("DictNavigator", "DynamicCastAndCheck[After]", n->getPath(), casted);
+ return casted;
+ }
- size_t DictNavigator::childrenSize() const
- {
- return 1;
- }
+ // virtual implementations
+ std::vector<NavigatorPtr> DictNavigator::getChildren() const
+ {
+ return {acceptedType};
+ }
- type::AronTypePtr DictNavigator::getResult() const
- {
- CheckAronPtrForNull("DictNavigator", "getResult", getPath(), type->acceptedType);
- return type;
- }
+ size_t DictNavigator::childrenSize() const
+ {
+ return 1;
+ }
- std::string DictNavigator::getName() const
- {
- return "AronDictType<" + acceptedType->getName() + ">";
- }
+ type::AronTypePtr DictNavigator::getResult() const
+ {
+ CheckAronPtrForNull("DictNavigator", "getResult", getPath(), type->acceptedType);
+ return type;
+ }
+
+ std::string DictNavigator::getName() const
+ {
+ return "AronDictType<" + acceptedType->getName() + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
index 0e51b074c31b94734cdcf84b5d58ede8c66def4e..3e87c4d5fbbc7879299e9da5f20d7a2086d87465 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
@@ -25,77 +25,75 @@
#include "List.h"
namespace armarx::aron::typenavigator
- {
- // constructors
- ListNavigator::ListNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eList, path),
- Navigator(type::Descriptor::eList, path),
- type(new type::AronList())
- {
- }
+{
+ // constructors
+ ListNavigator::ListNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eList, path),
+ Navigator(type::Descriptor::eList, path),
+ type(new type::AronList())
+ {
+ }
- ListNavigator::ListNavigator(const type::AronListPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eList, path),
- Navigator(type::Descriptor::eList, path),
- type(o)
- {
- CheckAronPtrForNull("ListNavigator", "ListNavigator", getPath(), o);
- acceptedType = FromAronType(o->acceptedType);
- }
+ ListNavigator::ListNavigator(const type::AronListPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eList, path),
+ Navigator(type::Descriptor::eList, path),
+ type(o)
+ {
+ CheckAronPtrForNull("ListNavigator", "ListNavigator", getPath(), o);
+ acceptedType = FromAronType(o->acceptedType);
+ }
- // Member functions
- NavigatorPtr ListNavigator::getAcceptedType() const
- {
- return acceptedType;
- }
+ // Member functions
+ NavigatorPtr ListNavigator::getAcceptedType() const
+ {
+ return acceptedType;
+ }
- void ListNavigator::setAcceptedType(const NavigatorPtr& a)
- {
- CheckTypeNavigatorPtrForNull("ListNavigator", "setAcceptedType", a);
- type->acceptedType = a->getResult();
- acceptedType = a;
- }
+ void ListNavigator::setAcceptedType(const NavigatorPtr& a)
+ {
+ CheckTypeNavigatorPtrForNull("ListNavigator", "setAcceptedType", a);
+ type->acceptedType = a->getResult();
+ acceptedType = a;
+ }
- // static methods
- ListNavigatorPtr ListNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<ListNavigator>(n);
- }
+ // static methods
+ ListNavigatorPtr ListNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<ListNavigator>(n);
+ }
- ListNavigatorPtr ListNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("ListNavigator", "DynamicCast[Before]", n);
- ListNavigatorPtr casted = ListNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("ListNavigator", "DynamicCast[After]", n->getPath(), casted);
- return casted;
- }
+ ListNavigatorPtr ListNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("ListNavigator", "DynamicCast[Before]", n);
+ ListNavigatorPtr casted = ListNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("ListNavigator", "DynamicCast[After]", n->getPath(), casted);
+ return casted;
+ }
- type::AronListPtr ListNavigator::toAronListPtr() const
- {
- CheckAronPtrForNull("ListNavigator", "getCastedResult", getPath(), type->acceptedType);
- return type;
- }
+ type::AronListPtr ListNavigator::toAronListPtr() const
+ {
+ CheckAronPtrForNull("ListNavigator", "getCastedResult", getPath(), type->acceptedType);
+ return type;
+ }
- // virtual implementations
- std::vector<NavigatorPtr> ListNavigator::getChildren() const
- {
- return {acceptedType};
- }
+ // virtual implementations
+ std::vector<NavigatorPtr> ListNavigator::getChildren() const
+ {
+ return {acceptedType};
+ }
- size_t ListNavigator::childrenSize() const
- {
- return 1;
- }
-
- type::AronTypePtr ListNavigator::getResult() const
- {
- return toAronListPtr();
- }
-
- std::string ListNavigator::getName() const
- {
- return "AronListType<" + acceptedType->getName() + ">";
- }
+ size_t ListNavigator::childrenSize() const
+ {
+ return 1;
+ }
+ type::AronTypePtr ListNavigator::getResult() const
+ {
+ return toAronListPtr();
+ }
+ std::string ListNavigator::getName() const
+ {
+ return "AronListType<" + acceptedType->getName() + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
index 0e8a8347c56c18093fac3481bf83baa55e5ee7ef..60e8947d4f9876b61c42add47979921e33395567 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
@@ -26,91 +26,110 @@
namespace armarx::aron::typenavigator
+{
+ // constructors
+ PairNavigator::PairNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePair, path),
+ Navigator(type::Descriptor::ePair, path),
+ type(new type::AronPair())
+ {
+
+ }
+
+ PairNavigator::PairNavigator(const type::AronPairPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePair, path),
+ Navigator(type::Descriptor::ePair, path),
+ type(o)
+ {
+ CheckAronPtrForNull("AronPairTypeNavigator", "AronPairTypeNavigator", getPath(), o);
+
+ acceptedType1 = FromAronType(o->acceptedType1);
+ acceptedType2 = FromAronType(o->acceptedType2);
+ }
+
+ // Member functions
+ std::pair<NavigatorPtr, NavigatorPtr> PairNavigator::getAcceptedTypes() const
+ {
+ return {acceptedType1, acceptedType2};
+ }
+
+ NavigatorPtr PairNavigator::getFirstAcceptedType() const
+ {
+ return acceptedType1;
+ }
+
+ NavigatorPtr PairNavigator::getSecondAcceptedType() const
+ {
+ return acceptedType2;
+ }
+
+ void PairNavigator::addAcceptedType(const NavigatorPtr& n)
+ {
+ if (acceptedType1 == nullptr)
{
- // constructors
- PairNavigator::PairNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePair, path),
- Navigator(type::Descriptor::ePair, path),
- type(new type::AronPair())
- {
-
- }
-
- PairNavigator::PairNavigator(const type::AronPairPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePair, path),
- Navigator(type::Descriptor::ePair, path),
- type(o)
- {
- CheckAronPtrForNull("AronPairTypeNavigator", "AronPairTypeNavigator", getPath(), o);
-
- acceptedType1 = FromAronType(o->acceptedType1);
- acceptedType2 = FromAronType(o->acceptedType2);
- }
-
- // Member functions
- std::pair<NavigatorPtr, NavigatorPtr> PairNavigator::getAcceptedTypes() const
- {
- return {acceptedType1, acceptedType2};
- }
-
- NavigatorPtr PairNavigator::getFirstAcceptedType() const
- {
- return acceptedType1;
- }
-
- NavigatorPtr PairNavigator::getSecondAcceptedType() const
- {
- return acceptedType2;
- }
-
- void PairNavigator::setFirstAcceptedType(const NavigatorPtr& n)
- {
- acceptedType1 = n;
- }
-
- void PairNavigator::setSecondAcceptedType(const NavigatorPtr& n)
- {
- acceptedType2 = n;
- }
-
- type::AronPairPtr PairNavigator::toAronPairPtr() const
- {
- return type;
- }
-
- // static methods
- PairNavigatorPtr PairNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<PairNavigator>(n);
- }
-
- PairNavigatorPtr PairNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("AronPairTypeNavigator", "DynamicCastAndCheck[Before]", n);
- PairNavigatorPtr casted = PairNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("AronPairTypeNavigator", "DynamicCastAndCheck[After]", n->getPath(), casted);
- return casted;
- }
-
- // virtual implementations
- std::vector<NavigatorPtr> PairNavigator::getChildren() const
- {
- return {acceptedType1, acceptedType2};
- }
-
- size_t PairNavigator::childrenSize() const
- {
- return 2;
- }
-
- type::AronTypePtr PairNavigator::getResult() const
- {
- return type;
- }
-
- std::string PairNavigator::getName() const
- {
- return "AronPairType<" + acceptedType1->getName() + ", " + acceptedType2->getName() + ">";
- }
+ acceptedType1 = n;
+ return;
+ }
+ if (acceptedType2 == nullptr)
+ {
+ acceptedType2 = n;
+ return;
+ }
+ throw error::AronException("PairNavigator", "addAcceptedType", "Both types are already set", getPath());
+ }
+
+ void PairNavigator::setFirstAcceptedType(const NavigatorPtr& n)
+ {
+ acceptedType1 = n;
+ }
+
+ void PairNavigator::setSecondAcceptedType(const NavigatorPtr& n)
+ {
+ acceptedType2 = n;
+ }
+
+ type::AronPairPtr PairNavigator::toAronPairPtr() const
+ {
+ CheckAronPtrForNull("PairNavigator", "getResult", getPath(), type->acceptedType1);
+ CheckAronPtrForNull("PairNavigator", "getResult", getPath(), type->acceptedType2);
+ return type;
+ }
+
+ // static methods
+ PairNavigatorPtr PairNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<PairNavigator>(n);
+ }
+
+ PairNavigatorPtr PairNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronPairTypeNavigator", "DynamicCastAndCheck[Before]", n);
+ PairNavigatorPtr casted = PairNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("AronPairTypeNavigator", "DynamicCastAndCheck[After]", n->getPath(), casted);
+ return casted;
+ }
+
+ // virtual implementations
+ std::vector<NavigatorPtr> PairNavigator::getChildren() const
+ {
+ return {acceptedType1, acceptedType2};
+ }
+
+ size_t PairNavigator::childrenSize() const
+ {
+ return 2;
+ }
+
+ type::AronTypePtr PairNavigator::getResult() const
+ {
+ CheckAronPtrForNull("PairNavigator", "getResult", getPath(), type->acceptedType1);
+ CheckAronPtrForNull("PairNavigator", "getResult", getPath(), type->acceptedType2);
+ return type;
+ }
+
+ std::string PairNavigator::getName() const
+ {
+ return "AronPairType<" + acceptedType1->getName() + ", " + acceptedType2->getName() + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
index 759c95282ffb9f574029e87034b8d5eefff74d03..999a6c85656aa3ee4b5adc353e3cdbc26d770ce5 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.h
@@ -32,43 +32,44 @@
namespace armarx::aron::typenavigator
{
- class PairNavigator;
- typedef std::shared_ptr<PairNavigator> PairNavigatorPtr;
+ class PairNavigator;
+ typedef std::shared_ptr<PairNavigator> PairNavigatorPtr;
- class PairNavigator :
- virtual public Navigator
- {
- public:
- using PointerType = PairNavigatorPtr;
+ class PairNavigator :
+ virtual public Navigator
+ {
+ public:
+ using PointerType = PairNavigatorPtr;
- public:
- // constructors
- PairNavigator(const Path& path = Path());
- PairNavigator(const type::AronPairPtr&, const Path& path = Path());
+ public:
+ // constructors
+ PairNavigator(const Path& path = Path());
+ PairNavigator(const type::AronPairPtr&, const Path& path = Path());
- std::pair<NavigatorPtr, NavigatorPtr> getAcceptedTypes() const;
- NavigatorPtr getFirstAcceptedType() const;
- NavigatorPtr getSecondAcceptedType() const;
- void setFirstAcceptedType(const NavigatorPtr&);
- void setSecondAcceptedType(const NavigatorPtr&);
+ std::pair<NavigatorPtr, NavigatorPtr> getAcceptedTypes() const;
+ NavigatorPtr getFirstAcceptedType() const;
+ NavigatorPtr getSecondAcceptedType() const;
+ void addAcceptedType(const NavigatorPtr&);
+ void setFirstAcceptedType(const NavigatorPtr&);
+ void setSecondAcceptedType(const NavigatorPtr&);
- type::AronPairPtr toAronPairPtr() const;
+ type::AronPairPtr toAronPairPtr() const;
- // static methods
- static PairNavigatorPtr DynamicCast(const NavigatorPtr& n);
- static PairNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
+ // static methods
+ static PairNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static PairNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
- // virtual implementations
- virtual std::vector<NavigatorPtr> getChildren() const override;
- virtual size_t childrenSize() const override;
- virtual type::AronTypePtr getResult() const override;
- virtual std::string getName() const override;
+ // virtual implementations
+ virtual std::vector<NavigatorPtr> getChildren() const override;
+ virtual size_t childrenSize() const override;
+ virtual type::AronTypePtr getResult() const override;
+ virtual std::string getName() const override;
- private:
- // members
- NavigatorPtr acceptedType1;
- NavigatorPtr acceptedType2;
- type::AronPairPtr type;
+ private:
+ // members
+ NavigatorPtr acceptedType1;
+ NavigatorPtr acceptedType2;
+ type::AronPairPtr type;
- };
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
index a68340d9a894d49561a4f4db0f18469e0be1ae51..8d76320d402b315e5b06db15c6bbd85986da5da3 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
@@ -25,123 +25,125 @@
#include "IVTCByteImage.h"
namespace armarx::aron::typenavigator
+{
+ // constructors
+ IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
+ Navigator(type::Descriptor::eIVTCByteImage, path),
+ type(new type::AronIVTCByteImage(0, 0, ""))
+ {
+ }
+
+ IVTCByteImageNavigator::IVTCByteImageNavigator(const type::AronIVTCByteImagePtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
+ Navigator(type::Descriptor::eIVTCByteImage, path),
+ type(o)
+ {
+ CheckAronPtrForNull("AronIVTCByteImageTypeNavigator", "AronIVTCByteImageTypeNavigator", getPath(), o);
+ }
+
+ std::string IVTCByteImageNavigator::checkTypename(const std::string& s) const
+ {
+ for (const auto& [key, list] : ACCEPTED_TYPES)
{
- // constructors
- IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
- Navigator(type::Descriptor::eIVTCByteImage, path),
- type(new type::AronIVTCByteImage(0, 0, ""))
+ if (s == key)
{
+ return key;
}
- IVTCByteImageNavigator::IVTCByteImageNavigator(const type::AronIVTCByteImagePtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
- Navigator(type::Descriptor::eIVTCByteImage, path),
- type(o)
+ for (const auto& el : list)
{
- CheckAronPtrForNull("AronIVTCByteImageTypeNavigator", "AronIVTCByteImageTypeNavigator", getPath(), o);
- }
-
- bool IVTCByteImageNavigator::checkTypename(const std::string& s) const
- {
- if (s.empty())
- {
- throw error::AronException("AronIVTCByteImageTypeNavigator", "checkTypename", "The typename is empty.", getPath());
- }
-
- if (!std::any_of(ACCEPTED_TYPES.begin(), ACCEPTED_TYPES.end(), [s](const auto & el)
- {
- return s == el.first || std::find(el.second.begin(), el.second.end(), s) != el.second.end();
- }))
- {
- throw error::AronException("AronIVTCByteImageTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
- }
- return true;
- }
-
- type::AronIVTCByteImagePtr IVTCByteImageNavigator::toAronIVTCByteImagePtr() const
- {
- checkTypename(type->typeName);
- return type;
- }
-
- std::vector<int> IVTCByteImageNavigator::getDimensions() const
- {
- return {type->width, type->height};
- }
-
- unsigned int IVTCByteImageNavigator::getWidth() const
- {
- return type->width;
- }
-
- unsigned int IVTCByteImageNavigator::getHeight() const
- {
- return type->height;
- }
-
- std::string IVTCByteImageNavigator::getTypename() const
- {
- return type->typeName;
- }
-
- void IVTCByteImageNavigator::setWidth(const unsigned int& w)
- {
- if (w == 0)
+ if (s == el)
{
- throw error::AronException("AronIVTCByteImageTypeNavigator", "setWidth", "The width of an image cannot be 0", getPath());
+ return key;
}
- type->width = w;
- }
-
- void IVTCByteImageNavigator::setHeight(const unsigned int& h)
- {
- if (h == 0)
- {
- throw error::AronException("AronIVTCByteImageTypeNavigator", "setHeight", "The height of an image cannot be 0", getPath());
- }
- type->height = h;
- }
-
- void IVTCByteImageNavigator::setTypename(const std::string& u)
- {
- checkTypename(u);
- type->typeName = u;
- }
-
- // static methods
- IVTCByteImageNavigatorPtr IVTCByteImageNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<IVTCByteImageNavigator>(n);
- }
-
- IVTCByteImageNavigatorPtr IVTCByteImageNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("AronIVTCByteImageTypeNavigator", "DynamicCast[Before]", n);
- IVTCByteImageNavigatorPtr casted = IVTCByteImageNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("AronIVTCByteImageTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
- return casted;
- }
-
- // virtual implementations
- std::vector<NavigatorPtr> IVTCByteImageNavigator::getChildren() const
- {
- return {};
- }
-
- size_t IVTCByteImageNavigator::childrenSize() const
- {
- return 0;
- }
-
- type::AronTypePtr IVTCByteImageNavigator::getResult() const
- {
- return toAronIVTCByteImagePtr();
- }
-
- std::string IVTCByteImageNavigator::getName() const
- {
- return "AronIVTCByteImageType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
}
+ }
+ throw error::AronException("AronIVTCByteImageTypeNavigator", "checkTypename", "The typename is empty.", getPath());
+ }
+
+ type::AronIVTCByteImagePtr IVTCByteImageNavigator::toAronIVTCByteImagePtr() const
+ {
+ checkTypename(type->typeName);
+ return type;
+ }
+
+ std::vector<int> IVTCByteImageNavigator::getDimensions() const
+ {
+ return {type->width, type->height};
+ }
+
+ unsigned int IVTCByteImageNavigator::getWidth() const
+ {
+ return type->width;
+ }
+
+ unsigned int IVTCByteImageNavigator::getHeight() const
+ {
+ return type->height;
+ }
+
+ std::string IVTCByteImageNavigator::getTypename() const
+ {
+ return type->typeName;
+ }
+
+ void IVTCByteImageNavigator::setWidth(const unsigned int& w)
+ {
+ if (w == 0)
+ {
+ throw error::AronException("AronIVTCByteImageTypeNavigator", "setWidth", "The width of an image cannot be 0", getPath());
+ }
+ type->width = w;
+ }
+
+ void IVTCByteImageNavigator::setHeight(const unsigned int& h)
+ {
+ if (h == 0)
+ {
+ throw error::AronException("AronIVTCByteImageTypeNavigator", "setHeight", "The height of an image cannot be 0", getPath());
+ }
+ type->height = h;
+ }
+
+ void IVTCByteImageNavigator::setTypename(const std::string& u)
+ {
+ type->typeName = checkTypename(u);
+ }
+
+ // static methods
+ IVTCByteImageNavigatorPtr IVTCByteImageNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<IVTCByteImageNavigator>(n);
+ }
+
+ IVTCByteImageNavigatorPtr IVTCByteImageNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronIVTCByteImageTypeNavigator", "DynamicCast[Before]", n);
+ IVTCByteImageNavigatorPtr casted = IVTCByteImageNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("AronIVTCByteImageTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
+ return casted;
+ }
+
+ // virtual implementations
+ std::vector<NavigatorPtr> IVTCByteImageNavigator::getChildren() const
+ {
+ return {};
+ }
+
+ size_t IVTCByteImageNavigator::childrenSize() const
+ {
+ return 0;
+ }
+
+ type::AronTypePtr IVTCByteImageNavigator::getResult() const
+ {
+ return toAronIVTCByteImagePtr();
+ }
+
+ std::string IVTCByteImageNavigator::getName() const
+ {
+ return "AronIVTCByteImageType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
index 9628e6c8ec00ccff6da984ace665e198d3b39fdd..aeaf5a3c7f8057cda95706a91637f11ea25fec3e 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
@@ -32,54 +32,54 @@
namespace armarx::aron::typenavigator
{
- class IVTCByteImageNavigator;
- typedef std::shared_ptr<IVTCByteImageNavigator> IVTCByteImageNavigatorPtr;
+ class IVTCByteImageNavigator;
+ typedef std::shared_ptr<IVTCByteImageNavigator> IVTCByteImageNavigatorPtr;
- class IVTCByteImageNavigator :
- virtual public Navigator
- {
- public:
- using PointerType = IVTCByteImageNavigatorPtr;
+ class IVTCByteImageNavigator :
+ virtual public Navigator
+ {
+ public:
+ using PointerType = IVTCByteImageNavigatorPtr;
- public:
- // constructors
- IVTCByteImageNavigator() = delete;
- IVTCByteImageNavigator(const Path& path);
- IVTCByteImageNavigator(const type::AronIVTCByteImagePtr&, const Path& path);
+ public:
+ // constructors
+ IVTCByteImageNavigator() = delete;
+ IVTCByteImageNavigator(const Path& path);
+ IVTCByteImageNavigator(const type::AronIVTCByteImagePtr&, const Path& path);
- bool checkTypename(const std::string&) const;
+ std::string checkTypename(const std::string&) const;
- unsigned int getWidth() const;
- unsigned int getHeight() const;
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
+ unsigned int getWidth() const;
+ unsigned int getHeight() const;
+ std::string getTypename() const;
+ std::vector<int> getDimensions() const;
- void setWidth(const unsigned int&);
- void setHeight(const unsigned int&);
- void setTypename(const std::string&);
+ void setWidth(const unsigned int&);
+ void setHeight(const unsigned int&);
+ void setTypename(const std::string&);
- type::AronIVTCByteImagePtr toAronIVTCByteImagePtr() const;
+ type::AronIVTCByteImagePtr toAronIVTCByteImagePtr() const;
- // static methods
- static IVTCByteImageNavigatorPtr DynamicCast(const NavigatorPtr& n);
- static IVTCByteImageNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
+ // static methods
+ static IVTCByteImageNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static IVTCByteImageNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
- // virtual implementations
- virtual std::vector<NavigatorPtr> getChildren() const override;
- virtual size_t childrenSize() const override;
- virtual type::AronTypePtr getResult() const override;
- virtual std::string getName() const override;
+ // virtual implementations
+ virtual std::vector<NavigatorPtr> getChildren() const override;
+ virtual size_t childrenSize() const override;
+ virtual type::AronTypePtr getResult() const override;
+ virtual std::string getName() const override;
- public:
- const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
- {
- {"GrayScale", {"CByteImage::ImageType::eGrayScale"}},
- {"RGB24", {"CByteImage::ImageType::eRGB24"}},
- {"RGB24Split", {"CByteImage::ImageType::eRGB24Split"}}
- };
+ public:
+ const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
+ {
+ {"GrayScale", {"CByteImage::ImageType::eGrayScale", "ImageType::eGrayScale"}},
+ {"RGB24", {"CByteImage::ImageType::eRGB24", "ImageType::eRGB24"}},
+ {"RGB24Split", {"CByteImage::ImageType::eRGB24Split", "ImageType::eRGB24Split"}}
+ };
- private:
- // members
- type::AronIVTCByteImagePtr type;
- };
+ private:
+ // members
+ type::AronIVTCByteImagePtr type;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
index 9e9a69fbeefe844ef90815d6eb5730211369edbd..e0d159cc3fc108c2bfb14d15fa6846e6c97d654f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
@@ -25,122 +25,124 @@
#include "OpenCVMat.h"
namespace armarx::aron::typenavigator
+{
+ // constructors
+ OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
+ Navigator(type::Descriptor::eOpenCVMat, path),
+ type(new type::AronOpenCVMat({}, ""))
+ {
+ }
+
+ OpenCVMatNavigator::OpenCVMatNavigator(const type::AronOpenCVMatPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
+ Navigator(type::Descriptor::eOpenCVMat, path),
+ type(o)
+ {
+ CheckAronPtrForNull("AronOpenCVMatTypeNavigator", "AronOpenCVMatTypeNavigator", getPath(), o);
+ checkDimensions(type->dimensions);
+ checkTypename(type->typeName);
+ }
+
+ bool OpenCVMatNavigator::checkDimensions(const std::vector<int>& d) const
+ {
+ if (d.size() < ACCEPTED_DIMENSION_MIN_SIZE)
{
- // constructors
- OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
- Navigator(type::Descriptor::eOpenCVMat, path),
- type(new type::AronOpenCVMat({}, ""))
- {
- }
+ throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. Got size: " + std::to_string(d.size()), getPath());
+ }
- OpenCVMatNavigator::OpenCVMatNavigator(const type::AronOpenCVMatPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
- Navigator(type::Descriptor::eOpenCVMat, path),
- type(o)
- {
- CheckAronPtrForNull("AronOpenCVMatTypeNavigator", "AronOpenCVMatTypeNavigator", getPath(), o);
- checkDimensions(type->dimensions);
- checkTypename(type->typeName);
- }
-
- bool OpenCVMatNavigator::checkDimensions(const std::vector<int>& d) const
- {
- if (d.size() < ACCEPTED_DIMENSION_MIN_SIZE)
- {
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. Got size: " + std::to_string(d.size()), getPath());
- }
-
- if (std::any_of(d.begin(), d.end(), [](int i)
+ if (std::any_of(d.begin(), d.end(), [](int i)
+ {
+ return i < -1 || i == 0;
+ }))
+ {
+ throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. At least one empty is < -1 or 0. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
+ }
+ return true;
+ }
+
+ std::string OpenCVMatNavigator::checkTypename(const std::string& s) const
+ {
+ for (const auto& [key, list] : ACCEPTED_TYPES)
+ {
+ if (s == key)
{
- return i < -1 || i == 0;
- }))
- {
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. At least one empty is < -1 or 0. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
- }
- return true;
+ return key;
}
- bool OpenCVMatNavigator::checkTypename(const std::string& s) const
+ for (const auto& el : list)
{
- if (s.empty())
+ if (s == el)
{
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkTypename", "The typename is empty.", getPath());
+ return key;
}
-
- if (!std::any_of(ACCEPTED_TYPES.begin(), ACCEPTED_TYPES.end(), [s](const auto & el)
- {
- return s == el.first || std::find(el.second.begin(), el.second.end(), s) != el.second.end();
- }))
- {
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
- }
- return true;
- }
-
- type::AronOpenCVMatPtr OpenCVMatNavigator::toAronOpenCVMatPtr() const
- {
- checkDimensions(type->dimensions);
- checkTypename(type->typeName);
- return type;
- }
-
- std::string OpenCVMatNavigator::getTypename() const
- {
- return type->typeName;
- }
-
- std::vector<int> OpenCVMatNavigator::getDimensions() const
- {
- return type->dimensions;
- }
-
- void OpenCVMatNavigator::setTypename(const std::string& u)
- {
- checkTypename(u);
- type->typeName = u;
- }
-
- void OpenCVMatNavigator::setDimensions(const std::vector<int>& d)
- {
- checkDimensions(d);
- type->dimensions = d;
- }
-
-
- // static methods
- OpenCVMatNavigatorPtr OpenCVMatNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<OpenCVMatNavigator>(n);
- }
-
- OpenCVMatNavigatorPtr OpenCVMatNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("AronOpenCVMatTypeNavigator", "DynamicCast[Before]", n);
- OpenCVMatNavigatorPtr casted = OpenCVMatNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("AronOpenCVMatTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
- return casted;
- }
-
- // virtual implementations
- std::vector<NavigatorPtr> OpenCVMatNavigator::getChildren() const
- {
- return {};
- }
-
- size_t OpenCVMatNavigator::childrenSize() const
- {
- return 0;
- }
-
- type::AronTypePtr OpenCVMatNavigator::getResult() const
- {
- return toAronOpenCVMatPtr();
- }
-
- std::string OpenCVMatNavigator::getName() const
- {
- return "AronOpenCVMatType<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
}
+ }
+ throw error::AronException("OpenCVMatNavigator", "checkTypename", "The typename is empty.", getPath());
+ }
+
+ type::AronOpenCVMatPtr OpenCVMatNavigator::toAronOpenCVMatPtr() const
+ {
+ checkDimensions(type->dimensions);
+ checkTypename(type->typeName);
+ return type;
+ }
+
+ std::string OpenCVMatNavigator::getTypename() const
+ {
+ return type->typeName;
+ }
+
+ std::vector<int> OpenCVMatNavigator::getDimensions() const
+ {
+ return type->dimensions;
+ }
+
+ void OpenCVMatNavigator::setTypename(const std::string& u)
+ {
+ type->typeName = checkTypename(u);
+ }
+
+ void OpenCVMatNavigator::setDimensions(const std::vector<int>& d)
+ {
+ checkDimensions(d);
+ type->dimensions = d;
+ }
+
+
+ // static methods
+ OpenCVMatNavigatorPtr OpenCVMatNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<OpenCVMatNavigator>(n);
+ }
+
+ OpenCVMatNavigatorPtr OpenCVMatNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronOpenCVMatTypeNavigator", "DynamicCast[Before]", n);
+ OpenCVMatNavigatorPtr casted = OpenCVMatNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("AronOpenCVMatTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
+ return casted;
+ }
+
+ // virtual implementations
+ std::vector<NavigatorPtr> OpenCVMatNavigator::getChildren() const
+ {
+ return {};
+ }
+
+ size_t OpenCVMatNavigator::childrenSize() const
+ {
+ return 0;
+ }
+
+ type::AronTypePtr OpenCVMatNavigator::getResult() const
+ {
+ return toAronOpenCVMatPtr();
+ }
+
+ std::string OpenCVMatNavigator::getName() const
+ {
+ return "AronOpenCVMatType<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
index 305db77e2d6edbf1c2c5b4564ed08ab2d21113a0..4a1c0a88fb65404a0d0eab15ca54d0129af180d7 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
@@ -32,57 +32,57 @@
namespace armarx::aron::typenavigator
{
- class OpenCVMatNavigator;
- typedef std::shared_ptr<OpenCVMatNavigator> OpenCVMatNavigatorPtr;
+ class OpenCVMatNavigator;
+ typedef std::shared_ptr<OpenCVMatNavigator> OpenCVMatNavigatorPtr;
- class OpenCVMatNavigator :
- virtual public Navigator
- {
- public:
- using PointerType = OpenCVMatNavigatorPtr;
+ class OpenCVMatNavigator :
+ virtual public Navigator
+ {
+ public:
+ using PointerType = OpenCVMatNavigatorPtr;
- public:
- // constructors
- OpenCVMatNavigator() = delete;
- OpenCVMatNavigator(const Path& path);
- OpenCVMatNavigator(const type::AronOpenCVMatPtr&, const Path& path);
+ public:
+ // constructors
+ OpenCVMatNavigator() = delete;
+ OpenCVMatNavigator(const Path& path);
+ OpenCVMatNavigator(const type::AronOpenCVMatPtr&, const Path& path);
- bool checkDimensions(const std::vector<int>&) const;
- bool checkTypename(const std::string&) const;
+ bool checkDimensions(const std::vector<int>&) const;
+ std::string checkTypename(const std::string&) const;
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
+ std::string getTypename() const;
+ std::vector<int> getDimensions() const;
- void setDimensions(const std::vector<int>&);
- void setTypename(const std::string&);
+ void setDimensions(const std::vector<int>&);
+ void setTypename(const std::string&);
- type::AronOpenCVMatPtr toAronOpenCVMatPtr() const;
+ type::AronOpenCVMatPtr toAronOpenCVMatPtr() const;
- // static methods
- static OpenCVMatNavigatorPtr DynamicCast(const NavigatorPtr& n);
- static OpenCVMatNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
+ // static methods
+ static OpenCVMatNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static OpenCVMatNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
- // virtual implementations
- virtual std::vector<NavigatorPtr> getChildren() const override;
- virtual size_t childrenSize() const override;
- virtual type::AronTypePtr getResult() const override;
- virtual std::string getName() const override;
+ // virtual implementations
+ virtual std::vector<NavigatorPtr> getChildren() const override;
+ virtual size_t childrenSize() const override;
+ virtual type::AronTypePtr getResult() const override;
+ virtual std::string getName() const override;
- public:
- const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
- {
- {"CV_8U", {"8U"}},
- {"CV_8S", {"8S"}},
- {"CV_16U", {"16U"}},
- {"CV_16S", {"16S"}},
- {"CV_32S", {"32S"}},
- {"CV_32F", {"32F"}},
- {"CV_64F", {"64F"}}
- };
- const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
+ public:
+ const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
+ {
+ {"CV_8U", {"8U"}},
+ {"CV_8S", {"8S"}},
+ {"CV_16U", {"16U"}},
+ {"CV_16S", {"16S"}},
+ {"CV_32S", {"32S"}},
+ {"CV_32F", {"32F"}},
+ {"CV_64F", {"64F"}}
+ };
+ const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
- private:
- // members
- type::AronOpenCVMatPtr type;
- };
+ private:
+ // members
+ type::AronOpenCVMatPtr type;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
index 6ba41bf67870184489c2e27f5adb9d263820f385..2de0158a82ac9243202becc23a12272ebed0cd43 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
@@ -25,125 +25,127 @@
#include "PCLPointCloud.h"
namespace armarx::aron::typenavigator
+{
+ // constructors
+ PCLPointCloudNavigator::PCLPointCloudNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
+ Navigator(type::Descriptor::ePCLPointCloud, path),
+ type(new type::AronPCLPointCloud(0, 0, ""))
+ {
+ }
+
+ PCLPointCloudNavigator::PCLPointCloudNavigator(const type::AronPCLPointCloudPtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
+ Navigator(type::Descriptor::ePCLPointCloud, path),
+ type(o)
+ {
+ CheckAronPtrForNull("AronPCLPointCloudTypeNavigator", "AronPCLPointCloudTypeNavigator", getPath(), o);
+ checkTypename(type->typeName);
+ }
+
+ std::string PCLPointCloudNavigator::checkTypename(const std::string& s) const
+ {
+ for (const auto& [key, list] : ACCEPTED_TYPES)
{
- // constructors
- PCLPointCloudNavigator::PCLPointCloudNavigator(const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
- Navigator(type::Descriptor::ePCLPointCloud, path),
- type(new type::AronPCLPointCloud(0, 0, ""))
+ if (s == key)
{
+ return key;
}
- PCLPointCloudNavigator::PCLPointCloudNavigator(const type::AronPCLPointCloudPtr& o, const Path& path) :
- aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
- Navigator(type::Descriptor::ePCLPointCloud, path),
- type(o)
+ for (const auto& el : list)
{
- CheckAronPtrForNull("AronPCLPointCloudTypeNavigator", "AronPCLPointCloudTypeNavigator", getPath(), o);
- checkTypename(type->typeName);
- }
-
- bool PCLPointCloudNavigator::checkTypename(const std::string& s) const
- {
- if (s.empty())
- {
- throw error::AronException("AronPCLPointCloudTypeNavigator", "checkTypename", "The typename is empty.", getPath());
- }
-
- if (!std::any_of(ACCEPTED_TYPES.begin(), ACCEPTED_TYPES.end(), [s](const auto & el)
- {
- return s == el.first || std::find(el.second.begin(), el.second.end(), s) != el.second.end();
- }))
- {
- throw error::AronException("AronPCLPointCloudTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
- }
- return true;
- }
-
- type::AronPCLPointCloudPtr PCLPointCloudNavigator::toAronPCLPointCloudPtr() const
- {
- checkTypename(type->typeName);
- return type;
- }
-
- std::vector<int> PCLPointCloudNavigator::getDimensions() const
- {
- return {type->width, type->height};
- }
-
- unsigned int PCLPointCloudNavigator::getWidth() const
- {
- return type->width;
- }
-
- unsigned int PCLPointCloudNavigator::getHeight() const
- {
- return type->height;
- }
-
- std::string PCLPointCloudNavigator::getTypename() const
- {
- return type->typeName;
- }
-
- void PCLPointCloudNavigator::setWidth(const unsigned int& w)
- {
- if (w == 0)
- {
- throw error::AronException("AronPCLPointCloudTypeNavigator", "setWidth", "The width of aa pointcloud cannot be 0", getPath());
- }
- type->width = w;
- }
-
- void PCLPointCloudNavigator::setHeight(const unsigned int& h)
- {
- if (h == 0)
+ if (s == el)
{
- throw error::AronException("AronPCLPointCloudTypeNavigator", "setHeight", "The height of aa pointcloud cannot be 0", getPath());
+ return key;
}
- type->height = h;
- }
-
- void PCLPointCloudNavigator::setTypename(const std::string& u)
- {
- checkTypename(u);
- type->typeName = u;
- }
-
-
- // static methods
- PCLPointCloudNavigatorPtr PCLPointCloudNavigator::DynamicCast(const NavigatorPtr& n)
- {
- return std::dynamic_pointer_cast<PCLPointCloudNavigator>(n);
- }
-
- PCLPointCloudNavigatorPtr PCLPointCloudNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("AronPCLPointCloudTypeNavigator", "DynamicCast[Before]", n);
- PCLPointCloudNavigatorPtr casted = PCLPointCloudNavigator::DynamicCast(n);
- CheckTypeNavigatorPtrForNull("AronPCLPointCloudTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
- return casted;
- }
-
- // virtual implementations
- std::vector<NavigatorPtr> PCLPointCloudNavigator::getChildren() const
- {
- return {};
- }
-
- size_t PCLPointCloudNavigator::childrenSize() const
- {
- return 0;
- }
-
- type::AronTypePtr PCLPointCloudNavigator::getResult() const
- {
- return toAronPCLPointCloudPtr();
- }
-
- std::string PCLPointCloudNavigator::getName() const
- {
- return "AronPCLPointCloudType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
}
+ }
+ throw error::AronException("PCLPointCloudNavigator", "checkTypename", "The typename is empty.", getPath());
+ }
+
+ type::AronPCLPointCloudPtr PCLPointCloudNavigator::toAronPCLPointCloudPtr() const
+ {
+ checkTypename(type->typeName);
+ return type;
+ }
+
+ std::vector<int> PCLPointCloudNavigator::getDimensions() const
+ {
+ return {type->width, type->height};
+ }
+
+ unsigned int PCLPointCloudNavigator::getWidth() const
+ {
+ return type->width;
+ }
+
+ unsigned int PCLPointCloudNavigator::getHeight() const
+ {
+ return type->height;
+ }
+
+ std::string PCLPointCloudNavigator::getTypename() const
+ {
+ return type->typeName;
+ }
+
+ void PCLPointCloudNavigator::setWidth(const unsigned int& w)
+ {
+ if (w == 0)
+ {
+ throw error::AronException("AronPCLPointCloudTypeNavigator", "setWidth", "The width of aa pointcloud cannot be 0", getPath());
+ }
+ type->width = w;
+ }
+
+ void PCLPointCloudNavigator::setHeight(const unsigned int& h)
+ {
+ if (h == 0)
+ {
+ throw error::AronException("AronPCLPointCloudTypeNavigator", "setHeight", "The height of aa pointcloud cannot be 0", getPath());
+ }
+ type->height = h;
+ }
+
+ void PCLPointCloudNavigator::setTypename(const std::string& u)
+ {
+ type->typeName = checkTypename(u);
+ }
+
+
+ // static methods
+ PCLPointCloudNavigatorPtr PCLPointCloudNavigator::DynamicCast(const NavigatorPtr& n)
+ {
+ return std::dynamic_pointer_cast<PCLPointCloudNavigator>(n);
+ }
+
+ PCLPointCloudNavigatorPtr PCLPointCloudNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronPCLPointCloudTypeNavigator", "DynamicCast[Before]", n);
+ PCLPointCloudNavigatorPtr casted = PCLPointCloudNavigator::DynamicCast(n);
+ CheckTypeNavigatorPtrForNull("AronPCLPointCloudTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
+ return casted;
+ }
+
+ // virtual implementations
+ std::vector<NavigatorPtr> PCLPointCloudNavigator::getChildren() const
+ {
+ return {};
+ }
+
+ size_t PCLPointCloudNavigator::childrenSize() const
+ {
+ return 0;
+ }
+
+ type::AronTypePtr PCLPointCloudNavigator::getResult() const
+ {
+ return toAronPCLPointCloudPtr();
+ }
+
+ std::string PCLPointCloudNavigator::getName() const
+ {
+ return "AronPCLPointCloudType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
index 1c40aaaeb593c7b5d360429f0a155fd7234c416b..2f62f1b579b5e84b3acc93aa7a72d70329492736 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
@@ -32,60 +32,60 @@
namespace armarx::aron::typenavigator
{
- class PCLPointCloudNavigator;
- typedef std::shared_ptr<PCLPointCloudNavigator> PCLPointCloudNavigatorPtr;
+ class PCLPointCloudNavigator;
+ typedef std::shared_ptr<PCLPointCloudNavigator> PCLPointCloudNavigatorPtr;
- class PCLPointCloudNavigator :
- virtual public Navigator
- {
- public:
- using PointerType = PCLPointCloudNavigatorPtr;
+ class PCLPointCloudNavigator :
+ virtual public Navigator
+ {
+ public:
+ using PointerType = PCLPointCloudNavigatorPtr;
- public:
- // constructors
- PCLPointCloudNavigator() = delete;
- PCLPointCloudNavigator(const Path& path);
- PCLPointCloudNavigator(const type::AronPCLPointCloudPtr&, const Path& path);
+ public:
+ // constructors
+ PCLPointCloudNavigator() = delete;
+ PCLPointCloudNavigator(const Path& path);
+ PCLPointCloudNavigator(const type::AronPCLPointCloudPtr&, const Path& path);
- bool checkTypename(const std::string&) const;
+ std::string checkTypename(const std::string&) const;
- unsigned int getWidth() const;
- unsigned int getHeight() const;
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
+ unsigned int getWidth() const;
+ unsigned int getHeight() const;
+ std::string getTypename() const;
+ std::vector<int> getDimensions() const;
- void setWidth(const unsigned int&);
- void setHeight(const unsigned int&);
- void setTypename(const std::string&);
+ void setWidth(const unsigned int&);
+ void setHeight(const unsigned int&);
+ void setTypename(const std::string&);
- type::AronPCLPointCloudPtr toAronPCLPointCloudPtr() const;
+ type::AronPCLPointCloudPtr toAronPCLPointCloudPtr() const;
- // static methods
- static PCLPointCloudNavigatorPtr DynamicCast(const NavigatorPtr& n);
- static PCLPointCloudNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
+ // static methods
+ static PCLPointCloudNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static PCLPointCloudNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
- // virtual implementations
- virtual std::vector<NavigatorPtr> getChildren() const override;
- virtual size_t childrenSize() const override;
- virtual type::AronTypePtr getResult() const override;
- virtual std::string getName() const override;
+ // virtual implementations
+ virtual std::vector<NavigatorPtr> getChildren() const override;
+ virtual size_t childrenSize() const override;
+ virtual type::AronTypePtr getResult() const override;
+ virtual std::string getName() const override;
- public:
- const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
- {
- {"PointXYZ", {"pcl::PointXYZ"}},
- {"PointXYZI", {"pcl::PointXYZI"}},
- {"PointXYZL", {"pcl::PointXYZL"}},
- {"PointXYZRGB", {"pcl::PointXYZRGB"}},
- {"PointXYZRGBL", {"pcl::PointXYZRGBL"}},
- {"PointXYZRGBA", {"pcl::PointXYZRGBA"}},
- {"PointXYZHSV", {"pcl::PointXYZHSV"}}
- };
- const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
- const unsigned int ACCEPTED_DIMENSION_MAX_SIZE = 2;
+ public:
+ const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
+ {
+ {"PointXYZ", {"pcl::PointXYZ"}},
+ {"PointXYZI", {"pcl::PointXYZI"}},
+ {"PointXYZL", {"pcl::PointXYZL"}},
+ {"PointXYZRGB", {"pcl::PointXYZRGB"}},
+ {"PointXYZRGBL", {"pcl::PointXYZRGBL"}},
+ {"PointXYZRGBA", {"pcl::PointXYZRGBA"}},
+ {"PointXYZHSV", {"pcl::PointXYZHSV"}}
+ };
+ const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
+ const unsigned int ACCEPTED_DIMENSION_MAX_SIZE = 2;
- private:
- // members
- type::AronPCLPointCloudPtr type;
- };
+ private:
+ // members
+ type::AronPCLPointCloudPtr type;
+ };
}
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 33657aed38683de124c5fd12174f15c1a72a9825..7eeffdbb49db4b321b77ed47fa1e58361d538094 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -41,14 +41,19 @@ armarx_enable_aron_file_generation_for_target(
${TEST_NAME}
ARON_FILES
xmls/HumanPoseTest.xml
- xmls/SimpleDictTest.xml
+ xmls/DictTest.xml
xmls/ListTest.xml
- xmls/NaturalIK.xml
- xmls/SimpleObjectTest.xml
+ xmls/NaturalIKTest.xml
+ xmls/ObjectTest.xml
xmls/PrimitiveTest.xml
- xmls/ImageTest.xml
+ xmls/IVTCByteImageTest.xml
xmls/EigenMatrixTest.xml
+ xmls/EigenQuaternionTest.xml
xmls/OpenCVMatTest.xml
xmls/PCLPointCloudTest.xml
+ xmls/PositionTest.xml
+ xmls/OrientationTest.xml
+ xmls/PoseTest.xml
+ xmls/EnumTest.xml
#ENABLE_DEBUG_INFO
)
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index 838c5922e905af4c68c5a5048e6ad37a84bda16d..1c25b3d5894dd2db032f88110f3641955e54b2fe 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -56,28 +56,31 @@
// Aron
#include <RobotAPI/libraries/aron/core/Debug.h>
-#include <RobotAPI/libraries/aron/core/AronRandomizer.h>
+#include <RobotAPI/libraries/aron/core/Randomizer.h>
+
#include <RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/rapidXML/AronDataRapidXMLWriter.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/AronDataNlohmannJSONReader.h>
// Files without code generation
-#include "aronDataWithoutCodeGeneration.h"
+//#include "aronDataWithoutCodeGeneration.h"
// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/NaturalIK.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/ListTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/SimpleDictTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/SimpleObjectTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ImageTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/PCLPointCloudTest.aron.generated.h>
-
+#include <RobotAPI/libraries/aron/core/test/aron/PositionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/OrientationTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/PoseTest.aron.generated.h>
using namespace armarx;
using namespace aron;
@@ -85,16 +88,16 @@ using namespace aron;
template <typename T>
void runTestWithInstances(T& k1, T& k2)
{
- AronRandomizer r;
+ Randomizer r;
std::cout << "\t getting type 1" << std::endl;
typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toInitialAronType();
- type::AronObjectTypePtr k1_type = k1_type_nav->toAronObjectTypePtr();
+ type::AronObjectPtr k1_type = k1_type_nav->toAronObjectPtr();
BOOST_CHECK_NE(k1_type.get(), nullptr);
std::cout << "\t getting type 2" << std::endl;
typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toInitialAronType();
- type::AronObjectTypePtr k2_type = k2_type_nav->toAronObjectTypePtr();
+ type::AronObjectPtr k2_type = k2_type_nav->toAronObjectPtr();
BOOST_CHECK_NE(k2_type.get(), nullptr);
std::cout << "\t getting aron 1" << std::endl;
@@ -120,10 +123,12 @@ void runTestWithInstances(T& k1, T& k2)
//std::cout << AronDebug::AronDataPtrToString(k2_aron) << std::endl;
std::cout << "\t setting aron 1 from aron 2 and check for equality" << std::endl;
+
k1.fromAron(k2_aron_nav);
BOOST_CHECK_EQUAL((k1 == k2), true);
+
//std::cout << "\t getting current type 1" << std::endl;
//typenavigator::NavigatorPtr k1_current_type_nav = k1.toCurrentAronType();
//type::AronTypePtr k1_current_type = k1_current_type_nav->getResult();
@@ -135,23 +140,25 @@ void runTestWithInstances(T& k1, T& k2)
//BOOST_CHECK_NE(k2_current_type.get(), nullptr);
r.initializeRandomly(k1_aron_nav, k1_type_nav);
+
k1.fromAron(k1_aron);
+
std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
- armarx::aron::io::NlohmannJSONWriter json_writer_for_k1;
- armarx::aron::io::NlohmannJSONWriter json_writer_for_k2;
+ armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k1;
+ armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k2;
k1.write(json_writer_for_k1);
nlohmann::json k1_aron_json = json_writer_for_k1.getResult();
std::string k1_aron_json_str = k1_aron_json.dump(4);
- armarx::aron::io::NlohmannJSONWriter direct_json_writer_for_k1;
- armarx::aron::io::Visitor::SetupWriterFromAronDataPtr(direct_json_writer_for_k1, k1_aron);
+ armarx::aron::dataIO::writer::NlohmannJSONWriter direct_json_writer_for_k1;
+ armarx::aron::dataIO::Visitor::SetupWriterFromAronDataPtr(direct_json_writer_for_k1, k1_aron);
nlohmann::json direct_k1_aron_json = direct_json_writer_for_k1.getResult();
std::string direct_k1_aron_json_str = direct_k1_aron_json.dump(4);
BOOST_CHECK_EQUAL((k1_aron_json_str == direct_k1_aron_json_str), true);
- armarx::aron::io::AronDataNlohmannJSONReader json_reader_for_k2(k1_aron_json);
+ armarx::aron::dataIO::reader::NlohmannJSONReader json_reader_for_k2(k1_aron_json);
k2.read(json_reader_for_k2);
k2.write(json_writer_for_k2);
@@ -161,20 +168,6 @@ void runTestWithInstances(T& k1, T& k2)
//std::cout << "\t K1 as json: " << std::endl << k1_aron_json_str << std::endl;
//std::cout << "\t K2 as json: " << std::endl << k2_aron_json_str << std::endl;
BOOST_CHECK_EQUAL((k1_aron_json_str == k2_aron_json_str), true);
-
- //std::cout << "\t check XML export of k and k2 for equality" << std::endl;
- //armarx::aron::io::AronDataRapidXMLWriter xml_writer1;
- //armarx::aron::io::AronDataRapidXMLWriter xml_writer2;
-
- //k.write(xml_writer1);
- //k_aron_rapid_xml = xml_writer1.getResult();
-
- //k2.write(xml_writer2);
- //k2_aron_xml = xml_writer2.getResult();
-
- //std::cout << "\t K as XML: " << std::endl << k_aron_xml << std::endl;
- //std::cout << "\t K2: " << std::endl << k2_aron_json << std::endl;
- //BOOST_CHECK_EQUAL((k_aron_xml == k2_aron_xml), true);*/
}
@@ -191,7 +184,7 @@ BOOST_AUTO_TEST_CASE(AronNaturalIKTest)
Path memberReached(path, "reached");
Path memberJointValues(path, "jointValues");
Path indexJointValues0(memberJointValues, "0");
- Path indexJointValues1(memberJointValues, "1000");
+ Path indexJointValues1(memberJointValues, "1");
BOOST_CHECK_EQUAL(path.toString(), "\\");
BOOST_CHECK_EQUAL(path.size(), 0);
@@ -250,39 +243,35 @@ BOOST_AUTO_TEST_CASE(AronPrimitiveTest)
runTestWithInstances<PrimitiveTest>(p, p2);
}
-BOOST_AUTO_TEST_CASE(AronSimpleClassTest)
-{
- std::cout << "Running SimpleClass test" << std::endl;
- SimpleClass o1;
- SimpleClass o12;
- runTestWithInstances<SimpleClass>(o1, o12);
-}
-
BOOST_AUTO_TEST_CASE(AronObjectTest)
{
std::cout << "Running Object test" << std::endl;
- ObjectTest o2;
- ObjectTest o22;
- runTestWithInstances<ObjectTest>(o2, o22);
+ ObjectTest1 o1;
+ ObjectTest1 o12;
+ runTestWithInstances<ObjectTest1>(o1, o12);
+
+ ObjectTest2 o2;
+ ObjectTest2 o22;
+ runTestWithInstances<ObjectTest2>(o2, o22);
}
BOOST_AUTO_TEST_CASE(AronImageTest)
{
std::cout << "Running Image test" << std::endl;
- ImageTest i;
- ImageTest i2;
- runTestWithInstances<ImageTest>(i, i2);
+ IVTCByteImageTest i;
+ IVTCByteImageTest i2;
+ runTestWithInstances<IVTCByteImageTest>(i, i2);
}
-BOOST_AUTO_TEST_CASE(AronImageChangeSizeTest)
+/*BOOST_AUTO_TEST_CASE(AronImageChangeSizeTest)
{
std::cout << "Running Image test with changed sizes" << std::endl;
- ImageTest ii;
- ImageTest ii2;
- ii.the_ivt_image->Set(100, 100, ii.the_ivt_image->type);
- ii2.the_ivt_image->Set(10, 10, ii.the_ivt_image->type);
- runTestWithInstances<ImageTest>(ii, ii2);
-}
+ IVTCByteImageTest ii;
+ IVTCByteImageTest ii2;
+ ii.the_ivt_image.Set(100, 100, ii.the_ivt_image.type);
+ ii2.the_ivt_image.Set(10, 10, ii.the_ivt_image.type);
+ runTestWithInstances<IVTCByteImageTest>(ii, ii2);
+}*/
BOOST_AUTO_TEST_CASE(AronEigenMatrixTest)
{
@@ -328,3 +317,35 @@ BOOST_AUTO_TEST_CASE(AronTests)
AronNestedDataWithoutCodeGeneration rn2;
runTestWithInstances<AronNestedDataWithoutCodeGeneration>(rn1, rn2);
}*/
+
+BOOST_AUTO_TEST_CASE(AronEigenQuaternionTest)
+{
+ std::cout << "Running EigenQuaternion test" << std::endl;
+ EigenQuaternionTest eq;
+ EigenQuaternionTest eq2;
+ runTestWithInstances<EigenQuaternionTest>(eq, eq2);
+}
+
+BOOST_AUTO_TEST_CASE(AronPositionTest)
+{
+ std::cout << "Running Position test" << std::endl;
+ PositionTest pc;
+ PositionTest pc2;
+ runTestWithInstances<PositionTest>(pc, pc2);
+}
+
+BOOST_AUTO_TEST_CASE(AronOrientationTest)
+{
+ std::cout << "Running Orientation test" << std::endl;
+ OrientationTest pc;
+ OrientationTest pc2;
+ runTestWithInstances<OrientationTest>(pc, pc2);
+}
+
+BOOST_AUTO_TEST_CASE(AronPoseTest)
+{
+ std::cout << "Running Pose test" << std::endl;
+ PoseTest pc;
+ PoseTest pc2;
+ runTestWithInstances<PoseTest>(pc, pc2);
+}
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml b/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml
index 8cab5e6fd4eb572192e7db5df327883760288327..57d4e6951e98ccb690b8e2c61e6730c067cf01e0 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::BaseClassTest'>
+ <GenerateObject name='armarx::BaseClassTest'>
<ObjectChild key='base_class_member1'>
<Bool />
@@ -24,6 +24,6 @@
</List>
</ObjectChild>
- </GenerateType>
+ </GenerateObject>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml
index 4d06665c2ac40ebfcfcb4514e75bff8dc637ce68..de4be250d23c90f27d8198d890e7ef0576d672cb 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml
@@ -8,12 +8,12 @@
<Include include="/home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/BaseClass.xml" />
</AronIncludes>
<GenerateTypes>
- <GenerateType name='armarx::DerivedClass' extends="armarx::BaseClassTest">
+ <GenerateObject name='armarx::DerivedClass' extends="armarx::BaseClassTest">
<ObjectChild key='derived_class_member1'>
<Bool />
</ObjectChild>
- </GenerateType>
+ </GenerateObject>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/SimpleDictTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/DictTest.xml
similarity index 80%
rename from source/RobotAPI/libraries/aron/core/test/xmls/SimpleDictTest.xml
rename to source/RobotAPI/libraries/aron/core/test/xmls/DictTest.xml
index 003b22dbaad241b3f3d93685f96a3d173183c9b8..fadec8226455e878c6a98ed7a76131c66a3944e6 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/SimpleDictTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/DictTest.xml
@@ -2,12 +2,12 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::DictTest'>
+ <Object name='armarx::DictTest'>
<objectchild key='dict'>
<Dict>
<Float />
</Dict>
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml
index 0656e2f56972af2f0fc0e0adc49d2e40a11df986..b3f5f6447c6fc6f3d3a8851e00578156ad4560b3 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml
@@ -7,10 +7,22 @@
<AronIncludes>
</AronIncludes>
<GenerateTypes>
- <GenerateType name='armarx::EigenMatrixTest'>
- <ObjectChild key='the_eigen_matrix'>
+ <Object name='armarx::EigenMatrixTest'>
+ <ObjectChild key='the_short_eigen_matrix'>
+ <EigenMatrix rows="10" cols="25" type="short" />
+ </ObjectChild>
+ <ObjectChild key='the_int_eigen_matrix'>
<EigenMatrix rows="25" cols="25" type="int" />
</ObjectChild>
- </GenerateType>
+ <ObjectChild key='the_long_eigen_matrix'>
+ <EigenMatrix rows="25" cols="10" type="long" />
+ </ObjectChild>
+ <ObjectChild key='the_float_eigen_matrix'>
+ <EigenMatrix rows="1" cols="200" type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_double_eigen_matrix'>
+ <EigenMatrix rows="200" cols="1" type="double" />
+ </ObjectChild>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74eec8bbfaa61ed9f20b2a0e7f7cf08344884ea4
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml
@@ -0,0 +1,19 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+ <AronIncludes>
+ </AronIncludes>
+ <GenerateTypes>
+ <Object name='armarx::EigenQuaternionTest'>
+ <ObjectChild key='the_float_eigen_matrix'>
+ <EigenQuaternion type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_double_eigen_matrix'>
+ <EigenQuaternion type="double" />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EnumTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/EnumTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..789959fc609e8c15b62733199439bd1506aae8dc
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/EnumTest.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <IntEnum name="TheIntEnum">
+ <EnumValue key="INT_ENUM_VALUE_0" value="0" />
+ <EnumValue key="INT_ENUM_VALUE_1" value="1" />
+ <EnumValue key="INT_ENUM_VALUE_2" value="2" />
+ <EnumValue key="INT_ENUM_VALUE_3" value="3" />
+ <EnumValue key="INT_ENUM_VALUE_4" value="4" />
+ <EnumValue key="INT_ENUM_VALUE_5" value="5" />
+ <EnumValue key="INT_ENUM_VALUE_6" value="6" />
+ <EnumValue key="INT_ENUM_VALUE_7" value="7" />
+ <EnumValue key="INT_ENUM_VALUE_8" value="8" />
+ </IntEnum>
+ <Object name="TheObjectThatUsesTheIntEnum">
+ <objectchild key="some_string">
+ <string />
+ </objectchild>
+ <objectchild key="the_int_enum">
+ <TheIntEnum />
+ </objectchild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml
index 4a0948ed12871ce2010603ffaacb701ee2dfd9c9..78f4fd166c505e6e8b2d0cd4f4ac5c73f391d371 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml
@@ -1,8 +1,7 @@
-<!--This class contains the data structure for OpenPoseEstimationResults -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::OpenPoseEstimationResult'>
+ <Object name='armarx::HumanPoseTest'>
<ObjectChild key='reached'>
<Bool />
@@ -14,6 +13,6 @@
</List>
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..286f6709eb711af46aeedde4e9ee0bec7641551f
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::IVTCByteImageTest'>
+
+ <ObjectChild key='the_grayscale_image'>
+ <IVTCByteImage width="25" height="25" type="GrayScale" />
+ </ObjectChild>
+
+ <ObjectChild key='the_rgb_image'>
+ <IVTCByteImage width="1920" height="1080" type="RGB24" />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/ImageTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/ImageTest.xml
deleted file mode 100644
index 074128ebef8a32e4b7b5d631ec2336f41d1c06ef..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/test/xmls/ImageTest.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<!--Some fancy comment -->
-<?xml version="1.0" encoding="UTF-8" ?>
-<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Image/ByteImage.h>" />
- </CodeIncludes>
- <AronIncludes>
- </AronIncludes>
- <GenerateTypes>
- <GenerateType name='armarx::ImageTest'>
- <ObjectChild key='the_ivt_image'>
- <IVTCByteImage width="25" height="25" type="GrayScale" />
- </ObjectChild>
- </GenerateType>
- </GenerateTypes>
-</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml
index 0917c8ea0f34e98b1b250f11b7b94cef35f3f43c..1c8ed164015d99ad0b5eddc8881dc4d43d626c28 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::ListTest'>
+ <Object name='armarx::ListTest'>
<ObjectChild key='floatList'>
<List>
<Float />
@@ -45,14 +45,14 @@
<Bool />
</ObjectChild>
<ObjectChild key='element1'>
- <Bool />
+ <Int />
</ObjectChild>
<ObjectChild key='element2'>
- <Bool />
+ <Double />
</ObjectChild>
</Object>
</List>
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIK.xml b/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml
similarity index 84%
rename from source/RobotAPI/libraries/aron/core/test/xmls/NaturalIK.xml
rename to source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml
index 87f43c9e43eb4f0e938b123c0e45693ba7824c4e..06dc659d12d955b30b2113ffe7125e2320d96127 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIK.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::NaturalIKResult'>
+ <Object name='armarx::NaturalIKResult'>
<ObjectChild key='reached'>
<Bool />
@@ -14,6 +14,6 @@
</List>
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/SimpleObjectTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/ObjectTest.xml
similarity index 62%
rename from source/RobotAPI/libraries/aron/core/test/xmls/SimpleObjectTest.xml
rename to source/RobotAPI/libraries/aron/core/test/xmls/ObjectTest.xml
index ee51a55a389a4fbd6833b7f13bf555795c4371bd..43903d1ce67236c564145ef79ed2732ff4fb522c 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/SimpleObjectTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/ObjectTest.xml
@@ -3,34 +3,34 @@
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::SimpleClass'>
+ <Object name='armarx::ObjectTest1'>
<objectchild key='the_bool'>
<bool />
</objectchild>
- </GenerateType>
+ </Object>
- <GenerateType name='armarx::ObjectTest'>
+ <Object name='armarx::ObjectTest2'>
<objectchild key='local_object'>
- <object name='OtherFancyObject'>
- <objectchild key='blarg'>
+ <object name='LocalObjectTest1'>
+ <objectchild key='the_bool'>
<bool />
</objectchild>
- <objectchild key='other_blarg'>
+ <objectchild key='the_int'>
<int />
</objectchild>
</object>
</ObjectChild>
<objectchild key='another_local_object'>
- <object name='VisionClass'>
- <objectchild key='blarg'>
+ <object name='LocalObjectTest2'>
+ <objectchild key='the_bool'>
<bool />
</objectchild>
- <objectchild key='other_object'>
+ <objectchild key='the_int'>
<int />
</objectchild>
</object>
</ObjectChild>
- </GenerateType>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml
index f47a174059ccf876b1e1a9cae0b220c3212906a8..c5cfb1e95c41d72790a7a6a65b5d028adbeb0576 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml
@@ -7,10 +7,19 @@
<AronIncludes>
</AronIncludes>
<GenerateTypes>
- <GenerateType name='armarx::OpenCVMatTest'>
- <ObjectChild key='the_opencv_matrix'>
- <OpenCVMat dimensions="25, 25" type="CV_32S" />
+ <Object name='armarx::OpenCVMatTest'>
+ <ObjectChild key='the_2d_opencv_matrix'>
+ <OpenCVMat dimensions="25, 25" type="64F" />
</ObjectChild>
- </GenerateType>
+ <ObjectChild key='the_3d_opencv_matrix'>
+ <OpenCVMat dimensions="25, 25, 25" type="CV_32F" />
+ </ObjectChild>
+ <ObjectChild key='the_4d_opencv_matrix'>
+ <OpenCVMat dimensions="25, 25, 25, 25" type="CV_32S" />
+ </ObjectChild>
+ <ObjectChild key='the_5d_opencv_matrix'>
+ <OpenCVMat dimensions="25, 25, 25, 25, 25" type="16U" />
+ </ObjectChild>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OrientationTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OrientationTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c5c531e48855014722aa5ad91b29799c995eb098
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OrientationTest.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::OrientationTest'>
+
+ <ObjectChild key='orientation'>
+ <Orientation />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml
index b09c7f2ab2397454224f9db56c764919e781cc4c..dff170ce43a968424e05839de91ada689e49ecf1 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml
@@ -8,10 +8,13 @@
<AronIncludes>
</AronIncludes>
<GenerateTypes>
- <GenerateType name='armarx::PointCloudTest'>
- <ObjectChild key='the_pcl_pointcloud'>
+ <Object name='armarx::PointCloudTest'>
+ <ObjectChild key='the_xyzrgb_pcl_pointcloud'>
<PCLPointCloud width="25" height="25" type="PointXYZRGB" />
</ObjectChild>
- </GenerateType>
+ <ObjectChild key='the_xyzrgba_pcl_pointcloud'>
+ <PCLPointCloud width="128" height="128" type="pcl::PointXYZRGBA" />
+ </ObjectChild>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PoseTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/PoseTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4af320525509ee7ce05b0b5c60e22d14fd555f6b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/PoseTest.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <Object name='armarx::PoseTest'>
+
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PositionTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/PositionTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64d9392fe8415b75ee59f896d3be7aa4b42bd9ae
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/PositionTest.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <Object name='armarx::PositionTest'>
+
+ <ObjectChild key='position'>
+ <Position />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml
index d2dc7bb640b4e089a5508a055ada41352fd6539d..ea38c815ffb08531d29d1ae9401aba7ff72ba479 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml
@@ -2,7 +2,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateType name='armarx::PrimitiveTest'>
+ <Object name='armarx::PrimitiveTest'>
<objectchild key='the_int'>
<int />
</ObjectChild>
@@ -21,6 +21,9 @@
<objectchild key='the_bool'>
<bool />
</ObjectChild>
- </GenerateType>
+ <objectchild key='the_time'>
+ <time />
+ </ObjectChild>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>