From d8a9b0573c05737355db057b3c0ca1b7d7653f71 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Wed, 19 May 2021 15:39:55 +0200
Subject: [PATCH] aron fixes for better code generation. Finalized maybe types.
Merged master and armem/dev into aron/dev. Fixed build issues. Repaired
ArMemMemoryTest test since an update now adds a provider segment (instead of
throwing MisingEntryException)
---
.../server/ExampleMemory/aron/ExampleData.xml | 2 +-
.../server/ObjectMemory/ObjectMemory.cpp | 4 +-
.../RobotStateMemory/RobotStateMemory.cpp | 2 +-
.../server/SkillsMemory/SkillsMemory.cpp | 4 +-
.../aron_conversions/objpose.cpp | 4 +-
.../libraries/armem/core/aron_conversions.cpp | 4 +-
.../core/workingmemory/EntityInstance.cpp | 16 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 5 +-
.../articulated_object_class/Segment.cpp | 2 +-
.../articulated_object_instance/Segment.cpp | 2 +-
.../armem_robot/aron_conversions.cpp | 9 +-
.../armem_robot_mapping/aron_conversions.cpp | 12 +-
.../armem_robot_state/aron_conversions.cpp | 4 +-
.../server/description/Segment.cpp | 4 +-
.../server/localization/Segment.cpp | 2 +-
.../codegenerator/codeWriter/cpp/Writer.cpp | 8 +-
.../codeWriter/cpp/serializer/Serializer.cpp | 260 +++++++++++++++---
.../codeWriter/cpp/serializer/Serializer.h | 3 +
.../cpp/serializer/container/Dict.cpp | 41 ++-
.../cpp/serializer/container/List.cpp | 38 +--
.../cpp/serializer/container/Object.cpp | 46 ++--
.../cpp/serializer/container/Pair.cpp | 68 ++---
.../cpp/serializer/container/Tuple.cpp | 64 ++---
.../detail/PrimitiveSerializerBase.h | 24 +-
.../cpp/serializer/detail/SerializerBase.h | 16 +-
.../cpp/serializer/enum/IntEnum.cpp | 19 +-
.../cpp/serializer/ndarray/EigenMatrix.cpp | 32 +--
.../serializer/ndarray/EigenQuaternion.cpp | 32 +--
.../cpp/serializer/ndarray/IVTCByteImage.cpp | 40 +--
.../cpp/serializer/ndarray/NDArray.cpp | 20 +-
.../cpp/serializer/ndarray/OpenCVMat.cpp | 70 +++--
.../cpp/serializer/ndarray/OpenCVMat.h | 6 +-
.../cpp/serializer/ndarray/Orientation.cpp | 32 +--
.../cpp/serializer/ndarray/PCLPointCloud.cpp | 39 ++-
.../cpp/serializer/ndarray/Pose.cpp | 32 +--
.../cpp/serializer/ndarray/Position.cpp | 32 +--
.../cpp/serializer/primitive/Bool.cpp | 4 +-
.../cpp/serializer/primitive/Double.cpp | 4 +-
.../cpp/serializer/primitive/Float.cpp | 4 +-
.../cpp/serializer/primitive/Int.cpp | 4 +-
.../cpp/serializer/primitive/Long.cpp | 4 +-
.../cpp/serializer/primitive/String.cpp | 4 +-
.../cpp/serializer/primitive/Time.cpp | 16 +-
.../cpp/serializer/toplevel/IntEnumClass.cpp | 58 ++--
.../cpp/serializer/toplevel/ObjectClass.cpp | 75 +++--
.../core/codegenerator/typeReader/xml/Data.h | 6 +-
.../reader/navigator/NavigatorReader.cpp | 8 +-
.../aron/core/io/dataIO/visitor/Visitor.cpp | 1 +
.../aron/core/navigator/data/Navigator.cpp | 1 +
.../core/navigator/data/complex/NDArray.cpp | 8 +
.../core/navigator/data/complex/NDArray.h | 4 +
.../core/navigator/data/container/List.cpp | 10 +-
.../aron/core/navigator/data/container/List.h | 3 +
.../data/detail/PrimitiveNavigatorBase.h | 9 +
.../libraries/aron/core/test/aronTest.cpp | 162 +++++++++--
.../aron/core/test/xmls/IVTCByteImageTest.xml | 4 +-
56 files changed, 843 insertions(+), 544 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index 7acb4e6d4..dd0bdb301 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -33,7 +33,7 @@
<EigenMatrix rows="4" cols="4" type="float" />
</ObjectChild>
<ObjectChild key='the_ivt_image'>
- <IVTCByteImage type="GrayScale" />
+ <IVTCByteImage type="GrayScale" raw_ptr="true"/>
</ObjectChild>
<ObjectChild key='the_float_list'>
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 837fcbcf8..25b56fcb8 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -158,8 +158,8 @@ namespace armarx::armem::server::obj
// {
// std::lock_guard g(server::ComponentPluginUser::workingMemoryMutex);
- // // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectInstance"); // TODO , arondto::::toInitialAronType());
- // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectClass"); // TODO , arondto::::toInitialAronType());
+ // // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectInstance"); // TODO , arondto::::toAronType());
+ // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectClass"); // TODO , arondto::::toAronType());
// }
createRemoteGuiTab();
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 5aba12106..90d970813 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -32,7 +32,7 @@
// Header
#include "ArmarXCore/core/logging/Logging.h"
#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/aron/core/navigator/data/primitive/Primitive.h"
+#include "RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h"
#include "RobotAPI/libraries/core/Pose.h"
// Simox
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 8a03cc159..c0a9fd2f3 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -70,8 +70,8 @@ namespace armarx
workingMemory.name() = p.memoryName;
{
- armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toInitialAronType());
- c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toInitialAronType());
+ armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
+ c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
}
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index 2de8a3da0..4ca668696 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -80,7 +80,7 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
bo.confidence = dto.confidence;
- bo.timestamp = IceUtil::Time::microSeconds(dto.timestamp);
+ bo.timestamp = dto.timestamp;
if (dto.localOOBBValid)
{
@@ -122,7 +122,7 @@ void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
dto.confidence = bo.confidence;
- dto.timestamp = bo.timestamp.toMicroSeconds();
+ dto.timestamp = bo.timestamp;
if (bo.localOOBB)
{
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
index ed2197e66..1f8e33c40 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
@@ -7,7 +7,7 @@ void armarx::armem::fromAron(const arondto::MemoryID& dto, MemoryID& bo)
bo.coreSegmentName = dto.coreSegmentName;
bo.providerSegmentName = dto.providerSegmentName;
bo.entityName = dto.entityName;
- bo.timestamp = IceUtil::Time::microSeconds(dto.timestamp);
+ bo.timestamp = dto.timestamp;
bo.instanceIndex = dto.instanceIndex;
}
@@ -17,7 +17,7 @@ void armarx::armem::toAron(arondto::MemoryID& dto, const MemoryID& bo)
dto.coreSegmentName = bo.coreSegmentName;
dto.providerSegmentName = bo.providerSegmentName;
dto.entityName = bo.entityName;
- dto.timestamp = bo.timestamp.toMicroSeconds();
+ dto.timestamp = bo.timestamp;
dto.instanceIndex = bo.instanceIndex;
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 95e508bde..6149449c7 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -10,7 +10,7 @@ std::ostream& armarx::armem::wm::operator<<(std::ostream& os, const EntityInstan
<< "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
<< "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
<< "\n- confidence = \t" << d.confidence << " us"
- ;
+ ;
return os;
}
@@ -28,9 +28,17 @@ namespace armarx::armem::wm
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
- return id() == other.id()
- && _metadata == other.metadata()
- && _data->equalsDeep(other.data());
+ if (_data and other.data())
+ {
+ return id() == other.id()
+ && _metadata == other.metadata()
+ && *_data == *other.data();
+ }
+ if (_data or other.data())
+ {
+ return false;
+ }
+ return id() == other.id() && _metadata == other.metadata();
}
void EntityInstance::update(const EntityUpdate& update, int index)
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 7588230d8..984c1f8e5 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -627,8 +627,9 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
{
update.entityID = armem::MemoryID::fromString("Memory/OtherCoreSegment");
BOOST_CHECK_THROW(coreSegment.update(update), armem::error::ContainerNameMismatch);
- update.entityID = armem::MemoryID::fromString("Memory/ImageRGB/MissingProvider");
- BOOST_CHECK_THROW(coreSegment.update(update), armem::error::MissingEntry);
+ // This adds the segment now (changed default behavior)
+ //update.entityID = armem::MemoryID::fromString("Memory/ImageRGB/MissingProvider");
+ //BOOST_CHECK_THROW(coreSegment.update(update), armem::error::MissingEntry);
}
armem::wm::ProviderSegment& providerSegment = coreSegment.addProviderSegment("SomeRGBImageProvider");
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
index 422b8e6be..b2e6be2f6 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
@@ -48,7 +48,7 @@ namespace armarx::armem::server::obj::articulated_object_class
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::RobotDescription::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::RobotDescription::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
if (p.loadFromObjectsPackage)
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
index c7fa562a6..dba8c91a8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
@@ -49,7 +49,7 @@ namespace armarx::armem::server::obj::articulated_object_instance
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreInstanceSegmentName, arondto::Robot::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreInstanceSegmentName, arondto::Robot::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 6a56d19f3..601f17d65 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -8,11 +8,6 @@ namespace armarx::armem::robot
{
/* to be moved */
- void fromAron(const long& dto, IceUtil::Time& time)
- {
- time = IceUtil::Time::microSeconds(dto);
- }
-
void toAron(long& dto, const IceUtil::Time& time)
{
dto = time.toMicroSeconds();
@@ -51,14 +46,14 @@ namespace armarx::armem::robot
void fromAron(const arondto::RobotState& dto, RobotState& bo)
{
- fromAron(dto.timestamp, bo.timestamp);
+ bo.timestamp = dto.timestamp;
bo.globalPose.matrix() = dto.globalPose;
bo.jointMap = dto.jointMap;
}
void toAron(arondto::RobotState& dto, const RobotState& bo)
{
- toAron(dto.timestamp, bo.timestamp);
+ dto.timestamp = bo.timestamp;
dto.globalPose = bo.globalPose.matrix();
dto.jointMap = bo.jointMap;
}
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
index b37a88381..9b4535719 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
@@ -16,18 +16,12 @@ namespace armarx
{
/************ fromAron ************/
-
- armem::Time timeFromAron(const int64_t timestamp)
- {
- return armem::Time::microSeconds(timestamp);
- }
-
SensorHeader fromAron(const arondto::SensorHeader& aronSensorHeader)
{
return {.agent = aronSensorHeader.agent,
.frame = aronSensorHeader.frame,
- .timestamp = timeFromAron(aronSensorHeader.timestamp)};
+ .timestamp = aronSensorHeader.timestamp};
}
void fromAron(const arondto::LaserScanStamped& aronLaserScan,
@@ -70,7 +64,7 @@ namespace armarx
aronSensorHeader.agent = sensorHeader.agent;
aronSensorHeader.frame = sensorHeader.frame;
- aronSensorHeader.timestamp = toAron(sensorHeader.timestamp);
+ aronSensorHeader.timestamp = sensorHeader.timestamp;
return aronSensorHeader;
}
@@ -97,4 +91,4 @@ namespace armarx
toAron(laserScanStamped, aronLaserScanStamped);
}
-} // namespace armarx
\ No newline at end of file
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
index 27fecee2e..785d25bdc 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem
aron::toAron(dto.parentFrame, bo.parentFrame);
aron::toAron(dto.frame, bo.frame);
aron::toAron(dto.agent, bo.agent);
- armarx::toAron(dto.timestamp, bo.timestamp);
+ dto.timestamp = bo.timestamp;
}
void fromAron(const arondto::TransformHeader& dto, robot_state::TransformHeader& bo)
@@ -46,7 +46,7 @@ namespace armarx::armem
aron::fromAron(dto.parentFrame, bo.parentFrame);
aron::fromAron(dto.frame, bo.frame);
aron::fromAron(dto.agent, bo.agent);
- armarx::fromAron(dto.timestamp, bo.timestamp);
+ bo.timestamp = dto.timestamp;
}
/* JointState */
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 826c5b484..67fc09b09 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -55,7 +55,7 @@ namespace armarx::armem::server::robot_state::description
ARMARX_INFO << "Adding core segment '" << p.coreSegment << "'";
coreSegment = &iceMemory.workingMemory->addCoreSegment(
- p.coreSegment, arondto::RobotDescription::toInitialAronType());
+ p.coreSegment, arondto::RobotDescription::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
@@ -73,7 +73,7 @@ namespace armarx::armem::server::robot_state::description
const Time now = TimeUtil::GetTime();
const MemoryID providerID = coreSegment->id().withProviderSegmentName(robotDescription.name);
- coreSegment->addProviderSegment(providerID.providerSegmentName, arondto::RobotDescription::toInitialAronType());
+ coreSegment->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 6858f0c34..108c80691 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -61,7 +61,7 @@ namespace armarx::armem::server::robot_state::localization
ARMARX_INFO << "Adding core segment '" << p.coreSegment << "'";
coreSegment = &iceMemory.workingMemory->addCoreSegment(
- p.coreSegment, arondto::Transform::toInitialAronType());
+ p.coreSegment, arondto::Transform::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
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 0cdf58d6d..86dc28743 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -132,22 +132,22 @@ namespace armarx::aron::cppserializer
}
}
- std::cout << "Generate Type classes" << std::endl;
+ //std::cout << "Generate Type classes" << std::endl;
generateInnerTypeObjects(c, publicGenerateObjectType->nestedObjects);
// ctor
c->addCtor(serializer->toCtor(c->getName()));
// Generic methods
- std::cout << "Generate equals method" << std::endl;
+ //std::cout << "Generate equals method" << std::endl;
CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
- std::cout << "Generate reset method" << std::endl;
+ //std::cout << "Generate reset method" << std::endl;
CppMethodPtr resetHard = serializer->toResetHardMethod();
c->addMethod(resetHard);
- std::cout << "Generate init method" << std::endl;
+ //std::cout << "Generate init method" << std::endl;
CppMethodPtr resetSoft = serializer->toResetSoftMethod();
c->addMethod(resetSoft);
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 4265939ef..757995c47 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
@@ -42,12 +42,13 @@ namespace armarx::aron::cppserializer
const std::map<std::string, std::string> Serializer::ESCAPE_ACCESSORS =
{
- {"->", "_ptr_"},
- {".", "_dot_"},
- {"[", "_lbrE_"},
- {"]", "_rbrE_"},
- {"(", "_lbrR_"},
- {")", "_rbrR_"}
+ {"->", "__ptr__"},
+ {".", "__dot__"},
+ {"[", "__lbrC__"},
+ {"]", "__rbrC__"},
+ {"(", "__lbrR__"},
+ {")", "__rbrR__"},
+ {"*", "__ast__"},
};
const SerializerFactoryPtr Serializer::FACTORY = SerializerFactoryPtr(new SerializerFactory());
@@ -78,35 +79,54 @@ namespace armarx::aron::cppserializer
CppBlockPtr Serializer::ResolveMaybeWriteBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
{
+ CppBlockPtr b = std::make_shared<CppBlock>();
+
+ if (!accessor.empty())
+ {
+ b->addLine("// Generate WriteInterface API calls for " + accessor);
+ }
+ else
+ {
+ b->addLine("// Generate WriteInterface API calls for the top level object " + ExtractCppTypename(typenavigator));
+ }
+
if (typenavigator->getMaybe() != type::Maybe::eNone)
{
- CppBlockPtr b = std::make_shared<CppBlock>();
- if (typenavigator->getMaybe() == type::Maybe::eOptional)
- {
- b->addLine("if (" + accessor + ".has_value())");
- b->addBlock(block_if_data);
- }
- if (typenavigator->getMaybe() == type::Maybe::eRawPointer)
+ switch (typenavigator->getMaybe())
{
- b->addLine("if (" + accessor + " == NULL)");
- b->addBlock(block_if_data);
- }
- if (typenavigator->getMaybe() == type::Maybe::eSharedPointer || typenavigator->getMaybe() == type::Maybe::eUniquePointer)
- {
- b->addLine("if (" + accessor + " == nullptr)");
- b->addBlock(block_if_data);
+ case type::Maybe::eOptional:
+ {
+ b->addLine("if (" + accessor + ".has_value())");
+ b->addBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eRawPointer:
+ {
+ b->addLine("if (" + accessor + " != NULL)");
+ b->addBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ {
+ b->addLine("if (" + accessor + " != nullptr)");
+ b->addBlock(block_if_data);
+ break;
+ }
+ default:
+ {
+ throw error::MaybeNotValidException("Serializer", "ResolveMaybeWriteBlock", "Unkown Maybe type (perhaps forgot to add in switch case?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
}
b->addLine("else");
CppBlockPtr block_if_no_data = std::make_shared<CppBlock>();
- block_if_no_data->addLine("w.writeNull();");
+ block_if_no_data->addLine("w.writeNull(); // The maybe type '" + accessor + "' has no data, so we simply write NULL (resulting in a AronData nullhandle)");
b->addBlock(block_if_no_data);
return b;
}
- else
- {
- return block_if_data;
- }
+ b->appendBlock(block_if_data);
+ return b;
}
CppBlockPtr Serializer::ResolveMaybeReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
@@ -114,22 +134,194 @@ namespace armarx::aron::cppserializer
std::string escaped_accessor = EscapeAccessor(accessor);
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
+ CppBlockPtr resolved_block = std::make_shared<CppBlock>();
+
+ if (!accessor.empty())
+ {
+ resolved_block->addLine("// Generate ReadInterface API calls for " + accessor);
+ }
+ else
+ {
+ resolved_block->addLine("// Generate ReadInterface API calls for the top level object " + ExtractCppTypename(typenavigator));
+ }
+
+ if (!readElement.empty())
+ {
+ resolved_block->addLine("auto " + read_start_result_accessor + " = " + readElement + "; // of " + accessor);
+ }
+
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
+ {
+ resolved_block->addLine("if (" + read_start_result_accessor + ".success)");
+ CppBlockPtr if_success = std::make_shared<CppBlock>();
+
+ switch (typenavigator->getMaybe())
+ {
+ case type::Maybe::eOptional:
+ {
+ auto s = FromAronTypeNaviagtorPtr(typenavigator);
+ if_success->addLine(accessor + " = " + s->getFullTypenameGenerator() + "();");
+ if_success->appendBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eRawPointer:
+ {
+ auto s = FromAronTypeNaviagtorPtr(typenavigator);
+ if_success->addLine(accessor + " = " + s->getFullTypenameGenerator() + "();");
+ if_success->appendBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ {
+ auto s = FromAronTypeNaviagtorPtr(typenavigator);
+ if_success->addLine(accessor + " = " + s->getFullTypenameGenerator() + "();");
+ if_success->appendBlock(block_if_data);
+ break;
+ }
+ default:
+ {
+ throw error::MaybeNotValidException("Serializer", "ResolveMaybeReadBlock", "Unkown Maybe type (perhaps forgot to add in switch case?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
+ }
+ resolved_block->addBlock(if_success);
+ return resolved_block;
+ }
+ resolved_block->appendBlock(block_if_data);
+ return resolved_block;
+ }
+
+ CppBlockPtr Serializer::ResolveMaybeEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ {
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("auto " + read_start_result_accessor + " = " + readElement + ";");
- if (typenavigator->getMaybe() == type::Maybe::eOptional)
+ if (!accessor.empty())
+ {
+ b->addLine("// Comparing " + accessor + " and " + otherInstanceAccessor);
+ }
+ else
{
- b->addLine("if (" + read_start_result_accessor + ".success)");
+ b->addLine("// Comparing two objects of type " + ExtractCppTypename(typenavigator));
+ }
- CppBlockPtr b2 = std::make_shared<CppBlock>();
- b2->addLine(accessor + ".emplace();");
- b2->appendBlock(block_if_data);
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
+ {
+ switch (typenavigator->getMaybe())
+ {
+ case type::Maybe::eOptional:
+ {
+ b->addLine("if (" + accessor + ".has_value() and " + otherInstanceAccessor + ".has_value()) // both have a value set");
+ b->addBlock(block_if_data);
+ b->addLine("if ((" + accessor + ".has_value() and !" + otherInstanceAccessor + ".has_value()) or (!" + accessor + ".has_value() and " + otherInstanceAccessor + ".has_value())) // only one has a value set (XOR)");
+ b->addLine("\t return false;");
+ break;
+ }
+ case type::Maybe::eRawPointer:
+ {
+ b->addLine("if (" + accessor + " != NULL and " + otherInstanceAccessor + " != NULL) // both have a value set");
+ b->addBlock(block_if_data);
+ b->addLine("if ((" + accessor + " != NULL and " + otherInstanceAccessor + " == NULL) or (" + accessor + " == NULL and " + otherInstanceAccessor + " != NULL)) // only one has a value set (XOR)");
+ b->addLine("\t return false;");
+ break;
+ }
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ {
+ b->addLine("if (" + accessor + " != nullptr and " + otherInstanceAccessor + " != nullptr) // both have a value set");
+ b->addBlock(block_if_data);
+ b->addLine("if ((" + accessor + " != nullptr and " + otherInstanceAccessor + " == nullptr) or (" + accessor + " == nullptr and " + otherInstanceAccessor + " != nullptr)) // only one has a value set (XOR)");
+ b->addLine("\t return false;");
+ break;
+ }
+ default:
+ {
+ throw error::MaybeNotValidException("Serializer", "ResolveMaybeEqualsBlock", "Unkown Maybe type (perhaps forgot to add in switch case?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
+ }
+ return b;
+ }
+ b->appendBlock(block_if_data);
+ return b;
+ }
- b->addBlock(b2);
+ CppBlockPtr Serializer::ResolveMaybeResetSoftBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+
+ if (!accessor.empty())
+ {
+ b->addLine("// Resetting soft member " + accessor);
}
else
{
- b->appendBlock(block_if_data);
+ b->addLine("// Ressetting soft the type " + ExtractCppTypename(typenavigator));
+ }
+
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
+ {
+ switch (typenavigator->getMaybe())
+ {
+ case type::Maybe::eOptional:
+ {
+ b->addLine("if (" + accessor + ".has_value())");
+ b->addBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eRawPointer:
+ {
+ b->addLine("if (" + accessor + " != NULL)");
+ b->addBlock(block_if_data);
+ break;
+ }
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ {
+ b->addLine("if (" + accessor + " != nullptr)");
+ b->addBlock(block_if_data);
+ break;
+ }
+ default:
+ {
+ throw error::MaybeNotValidException("Serializer", "ResolveMaybeResetSoftBlock", "Unkown Maybe type (perhaps forgot to add in switch case?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
+ }
+ return b;
+ }
+ b->appendBlock(block_if_data);
+ return b;
+ }
+
+ CppBlockPtr Serializer::ResolveMaybeResetHardBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ if (!accessor.empty())
+ {
+ b->addLine("// Resetting hard member " + accessor);
+ }
+ else
+ {
+ b->addLine("// Ressetting hard the type " + ExtractCppTypename(typenavigator));
+ }
+
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
+ {
+ switch (typenavigator->getMaybe())
+ {
+ case type::Maybe::eOptional:
+ case type::Maybe::eRawPointer:
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ {
+ b->addLine(accessor + " = {};");
+ break;
+ }
+ default:
+ {
+ throw error::MaybeNotValidException("Serializer", "ResolveMaybeResetSoftBlock", "Unkown Maybe type (perhaps forgot to add in switch case?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
+ }
+ return b;
}
+ b->appendBlock(block_if_data);
return b;
}
@@ -156,7 +348,7 @@ namespace armarx::aron::cppserializer
std::string Serializer::ExtractCppTypename(const typenavigator::NavigatorPtr& n)
{
SerializerPtr cpp = Serializer::FromAronTypeNaviagtorPtr(n);
- return cpp->getFullCppTypename();
+ return cpp->getCoreCppTypename();
}
std::vector<std::string> Serializer::ExtractCppTypenames(const std::vector<typenavigator::NavigatorPtr>& n)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index 1914c0e7c..ce4f11e9b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -116,6 +116,9 @@ namespace armarx::aron::cppserializer
static std::string ResolveMaybeAccessor(const std::string&, const typenavigator::NavigatorPtr&);
static CppBlockPtr ResolveMaybeWriteBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
static CppBlockPtr ResolveMaybeReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeEqualsBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeResetSoftBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeResetHardBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
protected:
static const std::string READ_START_RETURN_TYPE_ACCESSOR;
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 d5ee832a5..10b3470db 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
@@ -30,45 +30,44 @@ namespace armarx::aron::cppserializer::serializer
// constructors
DictSerializer::DictSerializer(const typenavigator::DictNavigatorPtr& e) :
detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>("std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
- simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronDict)), e)
+ simox::meta::get_type_name(typeid(data::AronDict)),
+ simox::meta::get_type_name(typeid(type::AronDict)), e)
{
}
// virtual implementations
CppBlockPtr DictSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ block_if_data->addLine(accessor + nextEl() + "clear();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDict({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
+ b->addLine("w.writeStartDict({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteTypeBlock(type_s->getFullCppTypename());
b->appendBlock(b2);
- b->addLine("w.writeEndDict();");
+ b->addLine("w.writeEndDict(); // of " + accessor);
return b;
}
CppBlockPtr DictSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine("w.writeStartDict();");
+ block_if_data->addLine("w.writeStartDict(); // of " + accessor);
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator_key = escaped_accessor + DICT_KEY_ACCESSOR;
@@ -83,7 +82,7 @@ namespace armarx::aron::cppserializer::serializer
b2->addLine("w.writeKey(" + accessor_iterator_key + ");");
b2->appendBlock(type_s->getWriteBlock(accessor_iterator_val));
block_if_data->addBlock(b2);
- block_if_data->addLine("w.writeEndDict();");
+ block_if_data->addLine("w.writeEndDict(); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -98,10 +97,10 @@ namespace armarx::aron::cppserializer::serializer
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- block_if_data->addLine("while(!r.readEndDict())");
+ block_if_data->addLine("while(!r.readEndDict()) // of " + accessor);
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine("std::string " + accessor_iterator_key + " = r.readKey();");
+ b2->addLine("std::string " + accessor_iterator_key + " = r.readKey(); // in dict " + accessor);
b2->addLine(type_s->getFullCppTypename() + " " + accessor_iterator + ";");
b2->appendBlock(type_s->getReadBlock(accessor_iterator));
b2->addLine(accessor + nextEl() + "insert({" + accessor_iterator_key + ", " + accessor_iterator + "});");
@@ -112,10 +111,10 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr DictSerializer::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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 1aa21fe91..b0fb56473 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
@@ -29,43 +29,45 @@ namespace armarx::aron::cppserializer::serializer
// constructors
ListSerializer::ListSerializer(const typenavigator::ListNavigatorPtr& e) :
detail::ContainerSerializerBase<typenavigator::ListNavigator, ListSerializer>("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronList)), e)
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronList)), e)
{
}
CppBlockPtr ListSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ block_if_data->addLine(accessor + nextEl() + "clear();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ListSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr ListSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr ListSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartList({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeStartList({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteTypeBlock(type_s->getFullCppTypename());
b->appendBlock(b2);
- b->addLine("w.writeEndList();");
+ b->addLine("w.writeEndList(); // of " + accessor);
return b;
}
CppBlockPtr ListSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeStartList();");
+ block_if_data->addLine("w.writeStartList(); // of " + accessor);
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + LIST_ITERATOR_ACCESSOR;
@@ -73,7 +75,7 @@ namespace armarx::aron::cppserializer::serializer
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
block_if_data->addLine("for(unsigned int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "size(); ++" + accessor_iterator + ")");
block_if_data->addBlock(type_s->getWriteBlock(accessor + nextEl() + "at(" + accessor_iterator + ")"));
- block_if_data->addLine("w.writeEndList();");
+ block_if_data->addLine("w.writeEndList(); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -85,7 +87,7 @@ namespace armarx::aron::cppserializer::serializer
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + LIST_ITERATOR_ACCESSOR;
- block_if_data->addLine("while(!r.readEndList())");
+ block_if_data->addLine("while(!r.readEndList()) // of " + accessor);
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
@@ -99,9 +101,9 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ListSerializer::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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 c5dd78ce3..1ffbe7db2 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
@@ -30,50 +30,38 @@ namespace armarx::aron::cppserializer::serializer
// constructors
ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>(e->getObjectName(),
- simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronObject)), e)
+ simox::meta::get_type_name(typeid(data::AronDict)),
+ simox::meta::get_type_name(typeid(type::AronObject)), e)
{
}
CppBlockPtr ObjectSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- b->addLine(accessor + nextEl() + "resetSoft();");
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ block_if_data->addLine(accessor + nextEl() + "resetSoft();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- b->addLine(accessor + nextEl() + "resetHard();");
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeType(w, " + MAYBE_TO_STRING(typenavigator->getMaybe()) + ");");
+ b->addLine(accessor + "::writeType(w, " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "); // of " + accessor);
return b;
}
CppBlockPtr ObjectSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + nextEl() + "write(w);");
+ block_if_data->addLine(accessor + nextEl() + "write(w); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -81,16 +69,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + nextEl() + "read(r, true);");
+ block_if_data->addLine(accessor + nextEl() + "read(r, true); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
}
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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 5b7fac538..6f78c2996 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
@@ -29,55 +29,37 @@ namespace armarx::aron::cppserializer::serializer
{
PairSerializer::PairSerializer(const typenavigator::PairNavigatorPtr& e) :
detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronPair)), e)
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronPair)), e)
{
}
CppBlockPtr PairSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getResetHardBlock(accessor + nextEl() + "first");
- b->appendBlock(b21);
-
- auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getResetHardBlock(accessor + nextEl() + "second");
- b->appendBlock(b22);
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getResetSoftBlock(accessor + nextEl() + "first");
- b->appendBlock(b21);
-
- auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getResetSoftBlock(accessor + nextEl() + "second");
- b->appendBlock(b22);
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
+ CppBlockPtr b21 = child_s1->getResetSoftBlock(accessor + nextEl() + "first");
+ block_if_data->appendBlock(b21);
+
+ auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
+ CppBlockPtr b22 = child_s2->getResetSoftBlock(accessor + nextEl() + "second");
+ block_if_data->appendBlock(b22);
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPair({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeStartPair({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -93,14 +75,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b22 = child_s2->getWriteTypeBlock(accessor_iterator2);
b->appendBlock(b22);
- b->addLine("w.writeEndPair();");
+ b->addLine("w.writeEndPair(); // of " + accessor);
return b;
}
CppBlockPtr PairSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeStartList();");
+ block_if_data->addLine("w.writeStartList(); // of " + accessor);
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
CppBlockPtr b21 = child_s1->getWriteBlock(accessor + nextEl() + "first");
@@ -110,7 +92,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b22 = child_s2->getWriteBlock(accessor + nextEl() + "second");
block_if_data->appendBlock(b22);
- block_if_data->addLine("w.writeEndList();");
+ block_if_data->addLine("w.writeEndList(); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -127,16 +109,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b22 = child_s2->getReadBlock(accessor + nextEl() + "second");
block_if_data->appendBlock(b22);
- block_if_data->addLine("r.readEndList();");
+ block_if_data->addLine("r.readEndList(); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 643f16570..dab5b33a0 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
@@ -29,55 +29,37 @@ namespace armarx::aron::cppserializer::serializer
{
TupleSerializer::TupleSerializer(const typenavigator::TupleNavigatorPtr& e) :
detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronTuple)), e)
+ simox::meta::get_type_name(typeid(data::AronList)),
+ simox::meta::get_type_name(typeid(type::AronTuple)), e)
{
}
CppBlockPtr TupleSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- unsigned int i = 0;
- for (const auto& child : typenavigator->getAcceptedTypes())
- {
- auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr b2 = child_s->getResetHardBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
- b->appendBlock(b2);
- }
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ unsigned int i = 0;
+ for (const auto& child : typenavigator->getAcceptedTypes())
{
- unsigned int i = 0;
- for (const auto& type : typenavigator->getAcceptedTypes())
- {
- auto type_s = FromAronTypeNaviagtorPtr(type);
- CppBlockPtr b2 = type_s->getResetSoftBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
- b->appendBlock(b2);
- }
+ auto child_s = FromAronTypeNaviagtorPtr(child);
+ CppBlockPtr b2 = child_s->getResetSoftBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
+ block_if_data->appendBlock(b2);
}
- return b;
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTuple({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeStartTuple({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -89,14 +71,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b2 = type_s->getWriteTypeBlock(accessor_iterator);
b->appendBlock(b2);
}
- b->addLine("w.writeEndTuple();");
+ b->addLine("w.writeEndTuple(); // of " + accessor);
return b;
}
CppBlockPtr TupleSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeStartList();");
+ block_if_data->addLine("w.writeStartList(); // of " + accessor);
std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
@@ -107,7 +89,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b2 = type_s->getWriteBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
block_if_data->appendBlock(b2);
}
- block_if_data->addLine("w.writeEndList();");
+ block_if_data->addLine("w.writeEndList(); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -125,16 +107,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b2 = type_s->getReadBlock("std::get<" + std::to_string(i++) + ">(" + resolved_accessor + ")");
block_if_data->appendBlock(b2);
}
- block_if_data->addLine("r.readEndList();");
+ block_if_data->addLine("r.readEndList(); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
index ef187424d..171f4defb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
@@ -46,23 +46,23 @@ namespace armarx::aron::cppserializer::detail
virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return this->ResolveMaybeResetHardBlock(accessor, block_if_data, this->typenavigator);
}
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return this->ResolveMaybeResetSoftBlock(accessor, block_if_data, this->typenavigator);
}
virtual CppBlockPtr getWriteBlock(const std::string& accessor) const override
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
- block_if_data->addLine("w.writePrimitive(" + resolved_accessor + ");");
+ block_if_data->addLine("w.writePrimitive(" + resolved_accessor + "); // of " + accessor);
return this->ResolveMaybeWriteBlock(accessor, block_if_data, this->typenavigator);
}
@@ -71,16 +71,16 @@ namespace armarx::aron::cppserializer::detail
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
- block_if_data->addLine("r.readEndPrimitive(" + resolved_accessor + ");");
+ block_if_data->addLine("r.readEndPrimitive(" + resolved_accessor + "); // of " + accessor);
return this->ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, this->typenavigator);
}
virtual CppBlockPtr getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const override
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ block_if_data->addLine("\t return false;");
+ return this->ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, this->typenavigator);
}
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
index 06370ed75..4b2dd5f89 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
@@ -60,7 +60,7 @@ namespace armarx::aron::cppserializer::detail
case type::Maybe::eOptional:
return "std::optional<" + getCoreCppTypename() + ">";
case type::Maybe::eRawPointer:
- return "*" + getCoreCppTypename();
+ return getCoreCppTypename() + "*";
case type::Maybe::eSharedPointer:
return "std::shared_ptr<" + getCoreCppTypename() + ">";
case type::Maybe::eUniquePointer:
@@ -124,6 +124,20 @@ namespace armarx::aron::cppserializer::detail
}
}
+ std::string toPointerAccessor(const std::string& accessor) const
+ {
+ switch (typenavigator->getMaybe())
+ {
+ case type::Maybe::eRawPointer:
+ return accessor;
+ case type::Maybe::eSharedPointer:
+ case type::Maybe::eUniquePointer:
+ return accessor + ".get()";
+ default:
+ throw error::MaybeNotValidException("SerializerBase", "toPointerAccessor", "Received invalid maybe enum (not a pointer?)", typenavigator->getMaybe(), typenavigator->getPath());
+ }
+ }
+
protected:
typename TypenavigatorT::PointerType typenavigator;
};
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 73b9cfa58..e412f52b5 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
@@ -29,23 +29,18 @@ namespace armarx::aron::cppserializer::serializer
// constructors
IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& e) :
detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumSerializer>(e->getEnumName(),
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIntEnum)), e)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronIntEnum)), e)
{
}
CppBlockPtr IntEnumSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- b->addLine(accessor + nextEl() + "resetSoft();");
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
+
+ block_if_data->addLine(accessor + nextEl() + "resetSoft();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IntEnumSerializer::getWriteTypeBlock(const std::string& accessor) const
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 34c90f38a..790d6157d 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
@@ -41,37 +41,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenMatrixSerializer::EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>("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)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronEigenMatrix)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({" + std::to_string(typenavigator->getRows()) + ", " + std::to_string(typenavigator->getCols()) + ", \"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeEigenMatrix({(int) " + std::to_string(typenavigator->getRows()) + ", (int) " + std::to_string(typenavigator->getCols()) + ", \"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr EigenMatrixSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({(int) " + accessor + nextEl() + "rows(), (int) " + accessor + nextEl() + "cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -79,15 +79,15 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr EigenMatrixSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + ResolveMaybeAccessor(otherInstanceAccessor, typenavigator) + ")))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + ResolveMaybeAccessor(otherInstanceAccessor, typenavigator) + ")))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 17eca9bd2..8e697ab6d 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
@@ -36,37 +36,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenQuaternionSerializer::EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronEigenQuaternion)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronEigenQuaternion)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr EigenQuaternionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -74,15 +74,15 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr EigenQuaternionSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 f7f4a1d03..e33934d35 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
@@ -37,37 +37,41 @@ namespace armarx::aron::cppserializer::serializer
// constructors
IVTCByteImageSerializer::IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>("CByteImage",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
+ if (typenavigator->getMaybe() == type::Maybe::eNone or typenavigator->getMaybe() == type::Maybe::eOptional)
+ {
+ throw error::MaybeNotValidException("IVTCByteImageSerializer", "IVTCByteImageSerializer", "An IVTCByteImage must be a pointer!", typenavigator->getMaybe(), typenavigator->getPath());
+ }
}
CppBlockPtr IVTCByteImageSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + nextEl() + "Set(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "type);");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + nextEl() + "Set(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "type);");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr IVTCByteImageSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr IVTCByteImageSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImage({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeIVTCByteImage({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr IVTCByteImageSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "bytesPerPixel}, std::to_string(" + accessor + nextEl() + "type), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "pixels));");
+ block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "bytesPerPixel}, std::to_string(" + accessor + nextEl() + "type), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "pixels)); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -79,18 +83,18 @@ namespace armarx::aron::cppserializer::serializer
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
block_if_data->addLine(accessor + nextEl() + "Set(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1], static_cast<CByteImage::ImageType>(std::stoi(" + read_start_result_accessor + ".type)));");
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels)); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "IsCompatible(" + otherInstanceAccessor + ".get())))");
- b->addLine("\t return false;");
- b->addLine("if (not (memcmp(" + accessor + nextEl() + "pixels, " + otherInstanceAccessor + nextEl() + "pixels, " + accessor + nextEl() + "width * " + accessor + nextEl() + "height * " + accessor + nextEl() + "bytesPerPixel) == 0))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "IsCompatible(" + toPointerAccessor(otherInstanceAccessor) + ")))");
+ block_if_data->addLine("\t return false;");
+ block_if_data->addLine("if (not (memcmp(" + accessor + nextEl() + "pixels, " + otherInstanceAccessor + nextEl() + "pixels, " + accessor + nextEl() + "width * " + accessor + nextEl() + "height * " + accessor + nextEl() + "bytesPerPixel) == 0))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
index 43e7f183f..67eb03720 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -29,24 +29,24 @@ namespace armarx::aron::cppserializer::serializer
// constructors
NDArraySerializer::NDArraySerializer(const typenavigator::NDArrayNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>("NDArray",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronNDArray)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronNDArray)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr NDArraySerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr NDArraySerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr NDArraySerializer::getWriteTypeBlock(const std::string&) const
@@ -69,8 +69,8 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr NDArraySerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, 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 3631eb1ff..da0e3c013 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
@@ -41,20 +41,13 @@ namespace armarx::aron::cppserializer::serializer
// constructors
OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>("cv::Mat",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOpenCVMat)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronOpenCVMat)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getResetSoftBlock(const std::string& accessor) const
+ std::pair<CppBlockPtr, std::string> OpenCVMatSerializer::getDimensionsFromAccessor(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -66,15 +59,35 @@ namespace armarx::aron::cppserializer::serializer
b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
- b->appendBlock(b2);
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_dimensions + ", " + accessor + nextEl() + "type());");
- return b;
+ b->addBlock(b2);
+ return {b, accessor_dimensions};
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
+ }
+
+ CppBlockPtr OpenCVMatSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+
+ auto [get_dim_block, accessor_dimensions] = getDimensionsFromAccessor(accessor);
+ block_if_data->appendBlock(get_dim_block);
+ block_if_data->addLine("if (!" + accessor_dimensions + ".empty())");
+ CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+ b2->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_dimensions + ", " + accessor + nextEl() + "type());");
+ block_if_data->addBlock(b2);
+
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr OpenCVMatSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr OpenCVMatSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOpenCVMat({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeOpenCVMat({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
@@ -83,16 +96,11 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = 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;
- block_if_data->addLine("std::vector<int> " + accessor_dimensions + ";");
- block_if_data->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
- block_if_data->appendBlock(b2);
+ auto [get_dim_block, accessor_dimensions] = getDimensionsFromAccessor(accessor);
+ block_if_data->appendBlock(get_dim_block);
block_if_data->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "elemSize());");
- block_if_data->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data));");
+ block_if_data->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -103,17 +111,21 @@ namespace armarx::aron::cppserializer::serializer
std::string escaped_accessor = EscapeAccessor(accessor);
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
- block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(std::vector<int>({" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())}), std::stoi(" + read_start_result_accessor + ".type));");
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data));");
+ block_if_data->addLine("if (!" + read_start_result_accessor + ".dims.empty())");
+ CppBlockPtr b2 = CppBlockPtr(new CppBlock());
+ b2->addLine(accessor + " = " + getCoreCppTypename() + "(std::vector<int>({" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())}), std::stoi(" + read_start_result_accessor + ".type));");
+ b2->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+ block_if_data->addBlock(b2);
+
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
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;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 089891a87..4ed162490 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
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<OpenCVMatSerializer> AronOpenCVMatTypeCppSerializerPtr;
class OpenCVMatSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>
{
public:
using PointerType = AronOpenCVMatTypeCppSerializerPtr;
@@ -57,10 +57,14 @@ namespace armarx::aron::cppserializer::serializer
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ private:
+ std::pair<CppBlockPtr, std::string> getDimensionsFromAccessor(const std::string& accessor) const;
+
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
static constexpr const char* ITERATOR_ACCESSOR = "_iterator";
static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
+ static constexpr const char* NUM_DIMENSION_ACCESSOR = "_num_dimensions";
};
}
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 13023745e..c10d1adfb 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
@@ -29,37 +29,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>("Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOrientation)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronOrientation)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr OrientationSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientation({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeOrientation({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -67,16 +67,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr OrientationSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, 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 09196a8b6..8229554f6 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
@@ -42,44 +42,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
PCLPointCloudSerializer::PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPCLPointCloud)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPCLPointCloud)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->getMaybe() != type::Maybe::eNone)
- {
- b->addLine(accessor + " = {};");
- }
- else
- {
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height);");
- }
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor + nextEl() + "width, " + accessor + nextEl() + "height);");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr PCLPointCloudSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr PCLPointCloudSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloud({\"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writePCLPointCloud({\"" + typenavigator->getTypename() + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr PCLPointCloudSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "points.data()));");
+ block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "points.data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -91,18 +84,18 @@ namespace armarx::aron::cppserializer::serializer
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1]);");
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (" + accessor + nextEl() + "width != " + otherInstanceAccessor + nextEl() + "width || " + accessor + nextEl() + "height != " + otherInstanceAccessor + nextEl() + "height)");
- b->addLine("\t return false;");
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (" + accessor + nextEl() + "width != " + otherInstanceAccessor + nextEl() + "width || " + accessor + nextEl() + "height != " + otherInstanceAccessor + nextEl() + "height)");
+ block_if_data->addLine("\t return false;");
//b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
//b->addLine("\t return false;");
- return b;
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, 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 f755e5442..93e340f51 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
@@ -29,37 +29,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPose)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPose)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PoseSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePose({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writePose({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -67,16 +67,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PoseSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, 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 109294d85..b4409c2f9 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
@@ -29,37 +29,37 @@ namespace armarx::aron::cppserializer::serializer
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPosition)), n)
+ simox::meta::get_type_name(typeid(data::AronNDArray)),
+ simox::meta::get_type_name(typeid(type::AronPosition)), n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PositionSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr PositionSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr PositionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePosition({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writePosition({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -67,16 +67,16 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PositionSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
index cb0dcfdbb..c0bb65832 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr BoolSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr BoolSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeBool({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeBool({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
index aa1b6deb2..62a47a280 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr DoubleSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr DoubleSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeDouble({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeDouble({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
index b48272103..06cbd8c1a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr FloatSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr FloatSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeFloat({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeFloat({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
index fb460dffb..7458faa28 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr IntSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr IntSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeInt({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
index 90f03a5f5..754f4818d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr LongSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr LongSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeLong({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeLong({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
index f815628ff..89e3603ee 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr StringSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr StringSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeString({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeString({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
index 39e5c6717..e76d5e1ba 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
@@ -39,10 +39,10 @@ namespace armarx::aron::cppserializer::serializer
}
/* virtual implementations */
- CppBlockPtr TimeSerializer::getWriteTypeBlock(const std::string&) const
+ CppBlockPtr TimeSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeTime({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeTime({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
@@ -50,7 +50,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
- block_if_data->addLine("w.writePrimitive(" + resolved_accessor + nextEl() + "toMicroSeconds());");
+ block_if_data->addLine("w.writePrimitive(" + resolved_accessor + nextEl() + "toMicroSeconds()); // of " + accessor);
return this->ResolveMaybeWriteBlock(accessor, block_if_data, this->typenavigator);
}
@@ -58,12 +58,12 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr TimeSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- std::string escaped_accessor = this->EscapeAccessor(accessor);
- std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
block_if_data->addLine("long " + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ";");
- block_if_data->addLine("r.readEndPrimitive(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ");");
- block_if_data->addLine(accessor + nextEl() + "microSeconds(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ");");
- return this->ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, this->typenavigator);
+ block_if_data->addLine("r.readEndPrimitive(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + "); // of " + accessor);
+ block_if_data->addLine(resolved_accessor + " = IceUtil::Time::microSeconds(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ");");
+ return this->ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, typenavigator);
}
}
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
index 6f1fa5a13..e4d844b9e 100644
--- 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
@@ -66,59 +66,59 @@ namespace armarx::aron::cppserializer::serializer
enum_to_value << "\t}";
value_to_enum << "\t}";
- fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str()));
- fields.push_back(std::make_shared<CppField>("const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str()));
- fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str()));
- fields.push_back(std::make_shared<CppField>("const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str()));
+ fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", std::string>", "EnumToStringMap", enum_to_name.str(), "Mapping enum values to readable strings"));
+ fields.push_back(std::make_shared<CppField>("const std::map<std::string, " + std::string(IMPL_ENUM) + ">", "StringToEnumMap", name_to_enum.str(), "Mapping readable strings to enum values"));
+ fields.push_back(std::make_shared<CppField>("const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str(), "Mapping enum values to a int value"));
+ fields.push_back(std::make_shared<CppField>("const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str(), "Mapping int values to a enum"));
- fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value"));
+ fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", "", "The current value of the enum object"));
return fields;
}
- CppBlockPtr IntEnumClassSerializer::getResetSoftBlock(const std::string&) const
+ CppBlockPtr IntEnumClassSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("value = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("value = {};");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr IntEnumClassSerializer::getResetHardBlock(const std::string&) const
+ CppBlockPtr IntEnumClassSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("value = {};");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("value = {};");
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IntEnumClassSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt({__aronMaybeType});");
+ b->addLine("w.writeInt({__aronMaybeType}); // of top level enum " + getCoreCppTypename());
return b;
}
- CppBlockPtr IntEnumClassSerializer::getWriteBlock(const std::string&) const
+ CppBlockPtr IntEnumClassSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePrimitive(EnumToValueMap.at(value));");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("w.writePrimitive(EnumToValueMap.at(value)); // of top level enum " + getCoreCppTypename());
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr IntEnumClassSerializer::getReadBlock(const std::string&) const
+ CppBlockPtr IntEnumClassSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("int temporary;");
- b->addLine("r.readEndPrimitive(temporary);");
- b->addLine("value = ValueToEnumMap.at(temporary);");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("int temporary;");
+ block_if_data->addLine("r.readEndPrimitive(temporary); // of top level enum " + getCoreCppTypename());
+ block_if_data->addLine("value = ValueToEnumMap.at(temporary);");
+ return ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, typenavigator);
}
- CppBlockPtr IntEnumClassSerializer::getEqualsBlock(const std::string&, const std::string& otherInstanceAccessor) const
+ CppBlockPtr IntEnumClassSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (value == " + otherInstanceAccessor + ".value))");
- b->addLine("\t return false;");
- return b;
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine("if (not (value == " + otherInstanceAccessor + ".value))");
+ block_if_data->addLine("\t return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
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
index f4d2f4fe9..e674c2445 100644
--- 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
@@ -61,40 +61,40 @@ namespace armarx::aron::cppserializer::serializer
return b;
}
- CppBlockPtr ObjectClassSerializer::getResetSoftBlock(const std::string&) const
+ CppBlockPtr ObjectClassSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::resetSoft();");
+ block_if_data->addLine(extends_s->getFullCppTypename() + "::resetSoft();");
}
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
auto child_s = FromAronTypeNaviagtorPtr(child);
CppBlockPtr b2 = child_s->getResetSoftBlock(key);
- b->appendBlock(b2);
+ block_if_data->appendBlock(b2);
}
- return b;
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr ObjectClassSerializer::getResetHardBlock(const std::string&) const
+ CppBlockPtr ObjectClassSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::resetHard();");
+ block_if_data->addLine(extends_s->getFullCppTypename() + "::resetHard();");
}
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
CppBlockPtr b2 = child_s->getResetHardBlock(key);
- b->appendBlock(b2);
+ block_if_data->appendBlock(b2);
}
- return b;
+ return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ObjectClassSerializer::getWriteTypeBlock(const std::string&) const
@@ -106,7 +106,7 @@ namespace armarx::aron::cppserializer::serializer
b->addLine(extends_s->getFullCppTypename() + "::writeType(w);");
}
- b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", __aronMaybeType});");
+ b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", __aronMaybeType}); // of top level object " + getCoreCppTypename());
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -115,20 +115,20 @@ namespace armarx::aron::cppserializer::serializer
b->appendBlock(b2);
}
- b->addLine("w.writeEndObject();");
+ b->addLine("w.writeEndObject(); // of top level object " + getCoreCppTypename());
return b;
}
- CppBlockPtr ObjectClassSerializer::getWriteBlock(const std::string&) const
+ CppBlockPtr ObjectClassSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::write(w, aron_type);");
+ block_if_data->addLine(extends_s->getFullCppTypename() + "::write(w, aron_type);");
}
- b->addLine("w.writeStartDict();");
+ block_if_data->addLine("w.writeStartDict(); // of top level object " + getCoreCppTypename());
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -136,57 +136,52 @@ namespace armarx::aron::cppserializer::serializer
child_b->addLine("w.writeKey(\"" + key + "\");");
child_b->appendBlock(child_s->getWriteBlock(key));
- b->appendBlock(child_b);
+ block_if_data->appendBlock(child_b);
}
- b->addLine("w.writeEndDict();");
- return b;
+ block_if_data->addLine("w.writeEndDict(); // of top level object " + getCoreCppTypename());
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
- CppBlockPtr ObjectClassSerializer::getReadBlock(const std::string&) const
+ CppBlockPtr ObjectClassSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::read(r);");
+ block_if_data->addLine(extends_s->getFullCppTypename() + "::read(r);");
}
- b->addLine("if(!skip_first_readStartDict)");
+ block_if_data->addLine("if(!skip_first_readStartDict)");
auto readStartDict = std::make_shared<CppBlock>();
- readStartDict->addLine("r.readStartDict();");
- b->addBlock(readStartDict);
+ readStartDict->addLine("r.readStartDict(); // of top level object " + getCoreCppTypename());
+ block_if_data->addBlock(readStartDict);
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr q = CppBlockPtr(new CppBlock());
-
- CppBlockPtr child_b = child_s->getReadBlock(key);
- q->appendBlock(child_b);
- b->addLine("r.loadMember(\"" + key + "\");");
- b->appendBlock(q);
-
+ block_if_data->addLine("r.loadMember(\"" + key + "\");");
+ block_if_data->appendBlock(child_s->getReadBlock(key));
}
- b->addLine("r.readEndDict();");
- return b;
+ block_if_data->addLine("r.readEndDict(); // of top level object " + getCoreCppTypename());
+ return ResolveMaybeReadBlock(accessor, "", block_if_data, typenavigator);
}
- CppBlockPtr ObjectClassSerializer::getEqualsBlock(const std::string&, const std::string& otherInstanceAccessor) const
+ CppBlockPtr ObjectClassSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine("if (not (" + extends_s->getFullCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
- b->addLine("\t return false;");
+ block_if_data->addLine("if (not (" + extends_s->getFullCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
+ block_if_data->addLine("\t return false;");
}
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
auto child_s = FromAronTypeNaviagtorPtr(child);
CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
- b->appendBlock(b2);
+ block_if_data->appendBlock(b2);
}
- return b;
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
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 f4c1f26e2..852bf2bbd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -74,9 +74,9 @@ namespace armarx::aron::xmltypereader
static constexpr const char* COLS_ATTRIBUTE_NAME = "cols";
static constexpr const char* DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
static constexpr const char* OPTIONAL_NAME = "optional";
- static constexpr const char* RAW_PTR_NAME = "rawptr";
- static constexpr const char* SHARED_PTR_NAME = "sharedptr";
- static constexpr const char* UNIQUE_PTR_NAME = "uniqueptr";
+ static constexpr const char* RAW_PTR_NAME = "raw_ptr";
+ static constexpr const char* SHARED_PTR_NAME = "shared_ptr";
+ static constexpr const char* UNIQUE_PTR_NAME = "unique_ptr";
// Second level tags. Only important if in specific top level tag
static constexpr const char* OBJECT_CHILD_TAG = "objectchild";
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 7565aa64b..665b1b125 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
@@ -80,7 +80,7 @@ namespace armarx::aron::dataIO::reader
auto token = stack.top();
datanavigator::DictNavigator::DynamicCastAndCheck(token->getElement());
- std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
+ //std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
if (token->finishedElement())
{
@@ -120,7 +120,7 @@ namespace armarx::aron::dataIO::reader
auto token = stack.top();
datanavigator::ListNavigator::DynamicCastAndCheck(token->getElement());
- std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
+ //std::cout << "We are at: " << token->getCurrentIndex() << "/" << token->getElementChildrenSize() << std::endl;
if (token->finishedElement())
{
stack.pop();
@@ -241,13 +241,13 @@ namespace armarx::aron::dataIO::reader
{
auto token = stack.top();
auto s = token->getCurrentKey();
- std::cout << "Read key: " << s << std::endl;
+ //std::cout << "Read key: " << s << std::endl;
return s;
}
void NavigatorReader::loadMember(const std::string& k)
{
- std::cout << "Loading member " << k << std::endl;
+ //std::cout << "Loading member " << k << std::endl;
auto token = stack.top();
token->setCurrentKey(k);
}
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 a505284ef..e66463490 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.cpp
@@ -61,6 +61,7 @@ namespace armarx::aron::dataIO
writer.writeStartDict();
for (const auto& [key, value] : casted->elements)
{
+ //std::cout << "Visit writer for " << key << std::endl;
writer.writeKey(key);
Visitor::VisitAndSetup(writer, value);
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/Navigator.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/Navigator.cpp
index 24adf0c75..ff4a18c89 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/Navigator.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/Navigator.cpp
@@ -27,6 +27,7 @@
// ArmarX
#include "../../Exception.h"
#include "NavigatorFactory.h"
+#include "container/Dict.h"
namespace armarx::aron::datanavigator
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
index bd43a9a24..c21af9e90 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
@@ -91,6 +91,14 @@ namespace armarx::aron::datanavigator
}
// public member functions
+ DictNavigatorPtr NDArrayNavigator::getAsDict() const
+ {
+ auto dict = std::make_shared<DictNavigator>();
+ auto copy_this = FromAronData(toAronDataPtr(), getPath());
+ dict->addElement("data", copy_this);
+ return dict;
+ }
+
unsigned char* NDArrayNavigator::getData() const
{
return aron->data.data();
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
index 8e51803c1..fb7461791 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
@@ -35,6 +35,8 @@
#include "../detail/NavigatorBase.h"
// ArmarX
+#include "../container/Dict.h"
+
#include "../../type/ndarray/EigenMatrix.h"
#include "../../type/ndarray/EigenQuaternion.h"
#include "../../type/ndarray/IVTCByteImage.h"
@@ -70,6 +72,8 @@ namespace armarx::aron::datanavigator
static std::string DimensionsToString(const std::vector<int>& dimensions);
// public member functions
+ DictNavigatorPtr getAsDict() const;
+
unsigned char* getData() const;
void setData(unsigned int, const unsigned char*);
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/container/List.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/container/List.cpp
index 3c328cb01..eb4c74fd6 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/container/List.cpp
@@ -72,7 +72,7 @@ namespace armarx::aron::datanavigator
{
if (!nav)
{
- if(!other.getElement(i))
+ if (!other.getElement(i))
{
return false;
}
@@ -102,6 +102,14 @@ namespace armarx::aron::datanavigator
}
// public member functions
+ DictNavigatorPtr ListNavigator::getAsDict() const
+ {
+ auto dict = std::make_shared<DictNavigator>();
+ auto copy_this = FromAronData(toAronDataPtr(), getPath());
+ dict->addElement("data", copy_this);
+ return dict;
+ }
+
void ListNavigator::addElement(const NavigatorPtr& n)
{
if (n)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/container/List.h b/source/RobotAPI/libraries/aron/core/navigator/data/container/List.h
index 1b9104e2f..d46607c13 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/container/List.h
@@ -30,6 +30,7 @@
#include "../detail/NavigatorBase.h"
// ArmarX
+#include "Dict.h"
#include "../../type/container/List.h"
namespace armarx::aron::datanavigator
@@ -55,6 +56,8 @@ namespace armarx::aron::datanavigator
static data::AronListPtr ToAronListPtr(const PointerType& navigator);
// public member functions
+ DictNavigatorPtr getAsDict() const;
+
data::AronListPtr toAronListPtr() const;
void addElement(const NavigatorPtr&);
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/detail/PrimitiveNavigatorBase.h b/source/RobotAPI/libraries/aron/core/navigator/data/detail/PrimitiveNavigatorBase.h
index 6edd96d7b..d18112d5f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/detail/PrimitiveNavigatorBase.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/detail/PrimitiveNavigatorBase.h
@@ -32,6 +32,7 @@
#include "NavigatorBase.h"
// ArmarX
+#include "../container/Dict.h"
namespace armarx::aron::datanavigator::detail
{
@@ -74,6 +75,14 @@ namespace armarx::aron::datanavigator::detail
// static methods
/* public member functions */
+ DictNavigatorPtr getAsDict() const
+ {
+ auto dict = std::make_shared<DictNavigator>();
+ auto copy_this = FromAronData(this->toAronDataPtr(), this->getPath());
+ dict->addElement("data", copy_this);
+ return dict;
+ }
+
void setValue(const ValueT& x)
{
this->aron->value = x;
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index a2d07c93f..17a3ddf27 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -90,50 +90,100 @@ using namespace aron;
template <typename T>
void runTestWithInstances(T& k1, T& k2)
{
+ bool echo = true;
+
Randomizer r;
- std::cout << "\t getting type 1" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t getting type 1" << std::endl;
+ }
typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
type::AronObjectPtr k1_type = k1_type_nav->toAronObjectPtr();
BOOST_CHECK_EQUAL((bool) k1_type, true);
- std::cout << "\t getting type 2" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t getting type 2" << std::endl;
+ }
typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toAronType();
type::AronObjectPtr k2_type = k2_type_nav->toAronObjectPtr();
BOOST_CHECK_EQUAL((bool) k2_type, true);
datanavigator::DictNavigatorPtr k1_aron_nav = k1.toAron();
- std::cout << "\t initialize aron 1 randomly" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t initialize aron 1 randomly" << std::endl;
+ }
r.initializeRandomly(k1_aron_nav, k1_type_nav);
- std::cout << "\t getting aron 1" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t getting aron 1" << std::endl;
+ }
data::AronDictPtr k1_aron = k1_aron_nav->toAronDictPtr();
BOOST_CHECK_EQUAL((bool) k1_aron, true);
- std::cout << "K1 Aron:" << std::endl;
- std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
+ if (echo)
+ {
+ std::cout << "K1 Aron:" << std::endl;
+ }
+ if (echo)
+ {
+ std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
+ }
+
+ if (echo)
+ {
+ std::cout << "K2 Aron:" << std::endl;
+ }
+ if (echo)
+ {
+ std::cout << armarx::aron::Debug::AronDataPtrToString(k2.toAron()->toAronDictPtr()) << std::endl;
+ }
- std::cout << "\t setting aron 2 from aron 1" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t setting aron 2 from aron 1" << std::endl;
+ }
k2.fromAron(k1_aron);
- std::cout << "\t getting aron 2" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t getting aron 2" << std::endl;
+ }
datanavigator::DictNavigatorPtr k2_aron_nav = k2.toAron();
data::AronDictPtr k2_aron = k2_aron_nav->toAronDictPtr();
BOOST_CHECK_EQUAL((bool) k2_aron, true);
- //std::cout << "K2 Aron:" << std::endl;
- //std::cout << AronDebug::AronDataPtrToString(k2_aron) << std::endl;
+ //if (echo) std::cout << "K2 Aron:" << std::endl;
+ //if (echo) std::cout << armarx::aron::Debug::AronDataPtrToString(k2_aron) << std::endl;
- std::cout << "\t setting aron 1 from aron 2 and check for equality" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t setting aron 1 from aron 2 and check for equality" << std::endl;
+ }
k1.fromAron(k2_aron_nav);
- //std::cout << "K1 Aron:" << std::endl;
- //std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
+ if (echo)
+ {
+ std::cout << "K1 Aron:" << std::endl;
+ }
+ if (echo)
+ {
+ std::cout << armarx::aron::Debug::AronDataPtrToString(k1.toAron()->toAronDictPtr()) << std::endl;
+ }
- //std::cout << "K2 Aron:" << std::endl;
- //std::cout << armarx::aron::Debug::AronDataPtrToString(k2_aron) << std::endl;
+ if (echo)
+ {
+ std::cout << "K2 Aron:" << std::endl;
+ }
+ if (echo)
+ {
+ std::cout << armarx::aron::Debug::AronDataPtrToString(k2.toAron()->toAronDictPtr()) << std::endl;
+ }
BOOST_CHECK_EQUAL((k1 == k2), true);
@@ -152,7 +202,10 @@ void runTestWithInstances(T& k1, T& k2)
k1.fromAron(k1_aron);
- std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
+ if (echo)
+ {
+ std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
+ }
armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k1;
armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k2;
@@ -164,6 +217,15 @@ void runTestWithInstances(T& k1, T& k2)
armarx::aron::dataIO::Visitor::VisitAndSetup(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);
+
+ if (echo)
+ {
+ std::cout << "\t K1 as json: " << std::endl << k1_aron_json_str << std::endl;
+ }
+ if (echo)
+ {
+ std::cout << "\t K1 as direct json: " << std::endl << direct_k1_aron_json_str << std::endl;
+ }
BOOST_CHECK_EQUAL((k1_aron_json_str == direct_k1_aron_json_str), true);
armarx::aron::dataIO::reader::NlohmannJSONReader json_reader_for_k2(k1_aron_json);
@@ -173,11 +235,44 @@ void runTestWithInstances(T& k1, T& k2)
nlohmann::json k2_aron_json = json_writer_for_k2.getResult();
std::string k2_aron_json_str = k2_aron_json.dump(4);
- //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;
+ if (echo)
+ {
+ std::cout << "\t K1 as json: " << std::endl << k1_aron_json_str << std::endl;
+ }
+ if (echo)
+ {
+ 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);
}
+BOOST_AUTO_TEST_CASE(AssignmentTest)
+{
+ std::cout << "Aron Assignment test" << std::endl;
+ float f = 5.0;
+ double d = 42.0;
+ int i = 666;
+ long l = 123;
+ std::string s = "Hello World";
+ bool b = true;
+
+ aron::datanavigator::FloatNavigator fn = f;
+ aron::datanavigator::DoubleNavigator dn = d;
+ aron::datanavigator::IntNavigator in = i;
+ aron::datanavigator::LongNavigator ln = l;
+ aron::datanavigator::StringNavigator sn = s;
+ aron::datanavigator::BoolNavigator bn = b;
+
+ BOOST_CHECK_EQUAL((float) fn == f, true);
+ BOOST_CHECK_EQUAL((double) dn == d, true);
+ BOOST_CHECK_EQUAL((int) in == i, true);
+ BOOST_CHECK_EQUAL((long) ln == l, true);
+ BOOST_CHECK_EQUAL((std::string) sn == s, true);
+ BOOST_CHECK_EQUAL((bool) bn == b, true);
+
+
+}
+
BOOST_AUTO_TEST_CASE(AronNaturalIKTest)
{
@@ -268,11 +363,18 @@ BOOST_AUTO_TEST_CASE(AronImageTest)
std::cout << "Running Image test" << std::endl;
IVTCByteImageTest ii;
IVTCByteImageTest ii2;
- ii.the_grayscale_image->Set(100, 100, CByteImage::eGrayScale);
- ii2.the_grayscale_image->Set(10, 10, CByteImage::eGrayScale);
- ii.the_rgb_image->Set(50, 50, CByteImage::eRGB24);
- ii2.the_rgb_image->Set(10, 10, CByteImage::eRGB24);
+ ii.the_grayscale_image = std::make_shared<CByteImage>();
+ ii2.the_grayscale_image = std::make_shared<CByteImage>();
+
+ ii.the_rgb_image = std::make_shared<CByteImage>();
+ ii2.the_rgb_image = std::make_shared<CByteImage>();
+
+ ii.the_grayscale_image->Set(5, 5, CByteImage::eGrayScale);
+ ii2.the_grayscale_image->Set(7, 7, CByteImage::eGrayScale);
+
+ ii.the_rgb_image->Set(5, 5, CByteImage::eRGB24);
+ ii2.the_rgb_image->Set(7, 7, CByteImage::eRGB24);
runTestWithInstances<IVTCByteImageTest>(ii, ii2);
}
@@ -291,10 +393,10 @@ BOOST_AUTO_TEST_CASE(AronOpenCVTest)
OpenCVMatTest ocv;
OpenCVMatTest ocv2;
- ocv.the_2d_opencv_matrix = cv::Mat(2, 2, CV_64FC4);
- ocv.the_3d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2}), CV_64FC4);
- ocv.the_4d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2}), CV_64FC4);
- ocv.the_5d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2, 2}), CV_64FC4);
+ ocv.the_2d_opencv_matrix = cv::Mat(2, 2, CV_64F);
+ ocv.the_3d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2}), CV_32F);
+ ocv.the_4d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2}), CV_16S);
+ ocv.the_5d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2, 2}), CV_8U);
runTestWithInstances<OpenCVMatTest>(ocv, ocv2);
}
@@ -305,11 +407,11 @@ BOOST_AUTO_TEST_CASE(AronPCLPointCloudTest)
PointCloudTest pc;
PointCloudTest pc2;
- pc.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(20, 20);
- pc.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(20, 20);
+ pc.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(5, 5);
+ pc.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(7, 7);
- pc2.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(50, 50);
- pc2.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(50, 50);
+ pc2.the_xyzrgb_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGB>(4, 4);
+ pc2.the_xyzrgba_pcl_pointcloud = pcl::PointCloud<pcl::PointXYZRGBA>(3, 3);
runTestWithInstances<PointCloudTest>(pc, pc2);
}
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
index cd1dfccc4..38ac4391e 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
@@ -7,11 +7,11 @@
<Object name='armarx::IVTCByteImageTest'>
<ObjectChild key='the_grayscale_image'>
- <IVTCByteImage width="25" height="25" type="GrayScale" sharedptr="ja" />
+ <IVTCByteImage width="25" height="25" type="GrayScale" shared_ptr="ja" />
</ObjectChild>
<ObjectChild key='the_rgb_image'>
- <IVTCByteImage width="1920" height="1080" type="RGB24" sharedptr="ja" />
+ <IVTCByteImage width="1920" height="1080" type="RGB24" shared_ptr="ja" />
</ObjectChild>
</Object>
--
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