diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index cb2ba76bf3a1a2bf3f739c52692ef5ebf0f8cb4a..07b09a338d33e9aade018ae890d712ca7c69a819 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -61,7 +61,7 @@ namespace armarx
void ExampleMemory::onInitComponent()
{
// Usually, the memory server will specify a number of core segments with a specific aron type.
- workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
+ workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::ToAronType());
// For illustration purposes, we add more segments (without types).
bool trim = true;
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index c3d2b817956435a450b1f3ae0a91ebc20044c314..5526876a302cd9658036a9603b753e47fd721121 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -39,7 +39,7 @@ namespace armem = armarx::armem;
BOOST_AUTO_TEST_CASE(test_ExampleData_type)
{
- armarx::aron::type::ObjectPtr type = ExampleData::toAronType();
+ armarx::aron::type::ObjectPtr type = ExampleData::ToAronType();
BOOST_CHECK_EQUAL(type->childrenSize(), 16);
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
index 144f9edcd76acbbe536084229dfe440804add7e2..e1b4bfd86c1b66ce9401aa75278e63e5e304e876 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
@@ -40,11 +40,11 @@ namespace armarx::armem::server::grasp
workingMemory().name() = memoryName;
workingMemory().addCoreSegment("GraspCandidate",
- armarx::grasping::arondto::GraspCandidate::toAronType());
+ armarx::grasping::arondto::GraspCandidate::ToAronType());
workingMemory().addCoreSegment("BimanualGraspCandidate",
- armarx::grasping::arondto::BimanualGraspCandidate::toAronType());
+ armarx::grasping::arondto::BimanualGraspCandidate::ToAronType());
workingMemory().addCoreSegment("KnownGraspCandidate",
- armarx::armem::grasping::arondto::KnownGraspInfo::toAronType());
+ armarx::armem::grasping::arondto::KnownGraspInfo::ToAronType());
knownGraspProviderSegment.init();
}
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 485a5e07d83fd42776d0f959186b4b4c764b1bf5..1ddbdb5a9efa1c2c98b4baefdb1e805a9af90fb8 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -16,7 +16,7 @@ namespace armarx::skills::provider
"This skill logs a message on ARMARX_IMPORTANT",
{},
1000,
- armarx::skills::Example::HelloWorldAcceptedType::toAronType()
+ armarx::skills::Example::HelloWorldAcceptedType::ToAronType()
})
{}
Skill::Status HelloWorldSkill::_execute(const aron::data::DictPtr& d, const CallbackT&)
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index bc4b1878fba11a5e9621735b9bee19e72548b05c..bc941f8aac4ccc2d8440eec70c1014b3f713c7bc 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -7,7 +7,7 @@
#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
-const std::string armarx::armem::gui::instance::rawMemoryIDTypeName = armarx::armem::arondto::MemoryID::toAronType()->getFullName();
+const std::string armarx::armem::gui::instance::rawMemoryIDTypeName = armarx::armem::arondto::MemoryID::ToAronType()->getFullName();
const std::string armarx::armem::gui::instance::sanitizedMemoryIDTypeName = "MemoryID";
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 0122739bc280f1b99ce932d7a72b2779556888d6..7b83360d50562977bf629a9ca4116f1c91089219 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -20,7 +20,7 @@
namespace armarx::armem::server::motions::mdb::segment
{
MDBMotionSegment::MDBMotionSegment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "MotionDatabase", "Motion", armarx::motion::mdb::arondto::MDBReference::toAronType())
+ Base(memoryToIceAdapter, "MotionDatabase", "Motion", armarx::motion::mdb::arondto::MDBReference::ToAronType())
{
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index 2c60cb9bd35ab7b3010e5b5f5fb0e719d0817f98..59a9a3474a82235d8bf19a7ee3510084c35f96f2 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -42,7 +42,7 @@ namespace armarx::armem::server::obj::attachments
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::Robot::toAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::Robot::ToAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 2eed2afc7ee6d391a0ef084cc218d330e5776b01..a0e9bce51558d7fb39caf50a331919dc16034793 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -22,7 +22,7 @@ namespace armarx::armem::server::obj::clazz
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, "Class", arondto::ObjectClass::toAronType(), -1)
+ SpecializedCoreSegment(memoryToIceAdapter, "Class", arondto::ObjectClass::ToAronType(), -1)
{
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 96369565e92c7747a33f627e6b8f98ab20ff52c7..f28cd81e1767d5e2ba6b983b8bbe9efed4958ef4 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -46,7 +46,7 @@ namespace armarx::armem::server::obj::instance
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
SpecializedCoreSegment(memoryToIceAdapter, "Instance",
- arondto::ObjectInstance::toAronType(), 64)
+ arondto::ObjectInstance::ToAronType(), 64)
{
oobbCache.setFetchFn([this](const ObjectID & id) -> std::optional<simox::OrientedBoxf>
{
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index cada3f5609ba137007e80cf8b3b2c102e1db591a..185356425ca3d657014f2b0e0b2e56631e443f4f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -26,7 +26,7 @@ namespace armarx::armem::server::robot_state::description
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Description", arondto::RobotDescription::toAronType())
+ Base(memoryToIceAdapter, "Description", arondto::RobotDescription::ToAronType())
{
}
@@ -47,7 +47,7 @@ namespace armarx::armem::server::robot_state::description
const Time now = TimeUtil::GetTime();
const MemoryID providerID = segmentPtr->id().withProviderSegmentName(robotDescription.name);
- segmentPtr->addProviderSegment(providerID.providerSegmentName, arondto::RobotDescription::toAronType());
+ segmentPtr->addProviderSegment(providerID.providerSegmentName, arondto::RobotDescription::ToAronType());
EntityUpdate update;
update.entityID = providerID.withEntityName("description");
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 897858e4cfa215623682d4034a61beb74681e488..e5a017d97720a9b66dc4047af37209d91313f02c 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -26,7 +26,7 @@ namespace armarx::armem::server::robot_state::localization
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Localization", arondto::Transform::toAronType(), 1024)
+ Base(memoryToIceAdapter, "Localization", arondto::Transform::ToAronType(), 1024)
{
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 4f2c301e0c80f5230eecc672ad76e6c3b1f8567f..9bf3f1e8129fe0d2f2194d1f9e223077678e93f0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -16,7 +16,7 @@ namespace armarx::armem::server::robot_state::proprioception
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Proprioception", arondto::Proprioception::toAronType(), 1024)
+ Base(memoryToIceAdapter, "Proprioception", arondto::Proprioception::ToAronType(), 1024)
{
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index 3c9d18f33ad2e7a07b38913795b385b77a9e7f91..1419ddf440ad718bc6c4252c7678b2c607534ab2 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -10,7 +10,7 @@
namespace armarx::skills::segment
{
ExecutableSkillLibraryCoreSegment::ExecutableSkillLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName, skills::arondto::SkillDescription::toAronType())
+ Base(iceMemory, CoreSegmentName, skills::arondto::SkillDescription::ToAronType())
{
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 57151c646f1206a45e689714c37dfac3508aeb88..5068cb04d910100a936b6934ef30fcaafb599f48 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -12,7 +12,7 @@ namespace armarx::skills::segment
{
SkillExecutionRequestCoreSegment::SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName/*, skills::arondto::SkillExecutionRequest::toAronType()*/)
+ Base(iceMemory, CoreSegmentName/*, skills::arondto::SkillExecutionRequest::ToAronType()*/)
{
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
index b3c4e1599ef66329f10a1e09fd7efa132acaba26..cee0e3a18293dfa15534ece89c8d40f6afdca8cd 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
@@ -6,7 +6,7 @@
namespace armarx::skills::segment
{
StatechartListenerProviderSegment::StatechartListenerProviderSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, "StatechartListener", "Transitions", arondto::Statechart::Transition::toAronType())
+ Base(iceMemory, "StatechartListener", "Transitions", arondto::Statechart::Transition::ToAronType())
{
}
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 4524241501e40896ee26150bde92ae85713fadb7..4ed774fb7f798efb5c5f3bf16cadaae5be22eb52 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/Writer.cpp
@@ -54,13 +54,13 @@ namespace armarx::aron::codegenerator::cpp
{
// The toAron Serializer is visible by default
- codegenerator::WriterInfo toAronType;
- toAronType.methodName = "toAronType";
- toAronType.returnType = "armarx::aron::type::ObjectPtr";
- toAronType.writerClassType = "armarx::aron::type::writer::VariantWriter";
- toAronType.include = "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
- toAronType.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
- initialTypeWriters.push_back(toAronType);
+ codegenerator::WriterInfo ToAronType;
+ ToAronType.methodName = "ToAronType";
+ ToAronType.returnType = "armarx::aron::type::ObjectPtr";
+ ToAronType.writerClassType = "armarx::aron::type::writer::VariantWriter";
+ ToAronType.include = "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
+ ToAronType.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
+ initialTypeWriters.push_back(ToAronType);
}
// toJSON Method
@@ -128,17 +128,31 @@ namespace armarx::aron::codegenerator::cpp
generator::ObjectClass generator(*type);
CppClassPtr c = setupBasicCppClass(publicGenerateObjectType, generator);
+
+ if (!type->getTemplates().empty())
+ {
+ std::vector<std::string> tmpl;
+ std::vector<std::string> tmpl_requires;
+ for (auto& t : type->getTemplates())
+ {
+ tmpl_requires.push_back("armarx::aron::codegenerator::cpp::isAronGeneratedClass<" + t + ">");
+ tmpl.push_back("class " + t);
+ }
+ std::string templateDef = "template <" + simox::alg::join(tmpl, ", ") + ">";
+ std::string requiresDef = "requires " + simox::alg::join(tmpl_requires, " && ");
+ c->setTemplates(templateDef + "\n" + requiresDef);
+ }
setupMemberFields(c, publicGenerateObjectType.doc_members, generator);
if (type->getExtends() != nullptr)
{
generator::ObjectClass extendsSerializer(*type->getExtends());
- c->addInherit("public " + extendsSerializer.getFullCppTypename());
+ c->addInherit("public " + extendsSerializer.getFullInstantiatedCppTypename());
}
else
{
- c->addInherit("public armarx::aron::codegenerator::cpp::AronCppClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronCppClass.h>");
+ c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
}
for (const std::string& s : additionalIncludes)
@@ -208,8 +222,8 @@ namespace armarx::aron::codegenerator::cpp
CppClassPtr c = setupBasicCppClass(publicGenerateIntEnumType, generator);
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
- c->addInherit("public armarx::aron::codegenerator::cpp::AronCppClass");
- c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronCppClass.h>");
+ c->addInherit("public armarx::aron::codegenerator::cpp::AronGeneratedClass");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
// ctor
c->addCtor(generator.toCopyCtor(c->getName()));
@@ -243,18 +257,19 @@ namespace armarx::aron::codegenerator::cpp
CppClassPtr Writer::setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const
{
- const std::string cppTypename = gen.getFullCppTypename();
- std::vector<std::string> split = simox::alg::split(cppTypename, "::");
- if (split.size() < 1)
+ const auto& type = gen.getType();
+ if (type.getMaybe() != type::Maybe::eNone)
{
- throw error::AronException(__PRETTY_FUNCTION__, "The cpp name of an inner type was empty. Please check the type definition file if all object names are set correctly.");
+ // Should not happen since we check the maybe flag on creation of the generator. However, better to double check
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
}
- std::vector<std::string> namespaces(split);
- namespaces.pop_back();
+ const std::string classCppTypename = gen.getClassCppTypename();
- CppClassPtr c = std::make_shared<CppClass>(namespaces, split[split.size() - 1]);
+ std::vector<std::string> namespaces = info.getNamespaces();
+ std::string rawObjectName = info.getNameWithoutNamespace();
+ CppClassPtr c = std::make_shared<CppClass>(namespaces, rawObjectName);
// Add includes and guard
std::string classDoc = "******************************************\n"
"* AUTOGENERATED CLASS. Please do NOT edit.\n"
@@ -272,8 +287,9 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude("<vector>");
c->addInclude("<map>");
c->addInclude("<RobotAPI/interface/aron.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>");
- c->addPublicField(std::string("using ") + OWN_TYPE_NAME + " = " + cppTypename + ";");
+ c->addPublicField(std::string("using ") + OWN_TYPE_NAME + " = " + classCppTypename + ";");
// ctor
c->addCtor(gen.toCtor(c->getName()));