From dce4402d583c53a05dcac6208e4e5217365e954d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 15 Feb 2022 09:43:03 +0100
Subject: [PATCH] Use simox json api
---
.../ArmarXObjects/json_conversions.cpp | 16 ++++++++--------
.../libraries/ArmarXObjects/json_conversions.h | 18 +++++++++---------
.../armem_objects/server/instance/Segment.cpp | 17 ++++++-----------
3 files changed, 23 insertions(+), 28 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
index 161983900..6080cfda7 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
@@ -9,7 +9,7 @@
#include "ice_conversions.h"
-void armarx::to_json(nlohmann::json& j, const ObjectID& id)
+void armarx::to_json(simox::json::json& j, const ObjectID& id)
{
j["dataset"] = id.dataset();
j["className"] = id.className();
@@ -17,7 +17,7 @@ void armarx::to_json(nlohmann::json& j, const ObjectID& id)
j["str"] = id.str();
}
-void armarx::from_json(const nlohmann::json& j, ObjectID& id)
+void armarx::from_json(const simox::json::json& j, ObjectID& id)
{
id =
{
@@ -27,7 +27,7 @@ void armarx::from_json(const nlohmann::json& j, ObjectID& id)
};
}
-void armarx::objpose::to_json(nlohmann::json& j, const ObjectPose& op)
+void armarx::objpose::to_json(simox::json::json& j, const ObjectPose& op)
{
j["providerName"] = op.providerName;
j["objectType"] = ObjectTypeNames.to_name(op.objectType);
@@ -52,7 +52,7 @@ void armarx::objpose::to_json(nlohmann::json& j, const ObjectPose& op)
}
-void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
+void armarx::objpose::from_json(const simox::json::json& j, ObjectPose& op)
{
op.providerName = j.at("providerName");
op.objectType = ObjectTypeNames.from_name(j.at("objectType"));
@@ -77,7 +77,7 @@ void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
}
-void armarx::objects::to_json(nlohmann::json& j, const SceneObject& rhs)
+void armarx::objects::to_json(simox::json::json& j, const SceneObject& rhs)
{
j["class"] = rhs.className;
j["instanceName"] = rhs.instanceName;
@@ -92,7 +92,7 @@ void armarx::objects::to_json(nlohmann::json& j, const SceneObject& rhs)
}
-void armarx::objects::from_json(const nlohmann::json& j, SceneObject& rhs)
+void armarx::objects::from_json(const simox::json::json& j, SceneObject& rhs)
{
j.at("class").get_to(rhs.className);
if (j.count("instanceName"))
@@ -128,13 +128,13 @@ void armarx::objects::from_json(const nlohmann::json& j, SceneObject& rhs)
-void armarx::objects::to_json(nlohmann::json& j, const Scene& rhs)
+void armarx::objects::to_json(simox::json::json& j, const Scene& rhs)
{
j["objects"] = rhs.objects;
}
-void armarx::objects::from_json(const nlohmann::json& j, Scene& rhs)
+void armarx::objects::from_json(const simox::json::json& j, Scene& rhs)
{
j.at("objects").get_to(rhs.objects);
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
index 608ad1442..0a5e83b61 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.h
@@ -1,28 +1,28 @@
#pragma once
-#include <SimoxUtility/json/json.hpp>
+#include <SimoxUtility/json/json.h>
#include "forward_declarations.h"
namespace armarx
{
- void to_json(nlohmann::json& j, const ObjectID& value);
- void from_json(const nlohmann::json& j, ObjectID& value);
+ void to_json(simox::json::json& j, const ObjectID& value);
+ void from_json(const simox::json::json& j, ObjectID& value);
}
namespace armarx::objpose
{
- void to_json(nlohmann::json& j, const ObjectPose& op);
- void from_json(const nlohmann::json& j, ObjectPose& op);
+ void to_json(simox::json::json& j, const ObjectPose& op);
+ void from_json(const simox::json::json& j, ObjectPose& op);
}
namespace armarx::objects
{
- void to_json(nlohmann::json& j, const SceneObject& rhs);
- void from_json(const nlohmann::json& j, SceneObject& rhs);
+ void to_json(simox::json::json& j, const SceneObject& rhs);
+ void from_json(const simox::json::json& j, SceneObject& rhs);
- void to_json(nlohmann::json& j, const Scene& rhs);
- void from_json(const nlohmann::json& j, Scene& rhs);
+ void to_json(simox::json::json& j, const Scene& rhs);
+ void from_json(const simox::json::json& j, Scene& rhs);
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 72faed5fe..0dbe6db72 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -815,13 +815,13 @@ namespace armarx::armem::server::obj::instance
{
if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
{
- const nlohmann::json j = scene;
- ARMARX_INFO << "Storing scene snapshot at: \n" << path.value() << "\n\n" << j.dump(2);
+
+ ARMARX_INFO << "Storing scene snapshot at: \n" << path.value();
try
{
- nlohmann::write_json(path.value(), j, 2);
+ simox::json::write(path.value(), scene, 2);
}
- catch (const std::ios_base::failure& e)
+ catch (const simox::json::error::JsonError& e)
{
ARMARX_WARNING << "Storing scene snapshot failed: \n" << e.what();
}
@@ -846,20 +846,15 @@ namespace armarx::armem::server::obj::instance
std::optional<armarx::objects::Scene>
Segment::loadScene(const std::filesystem::path& path)
{
- ARMARX_INFO << "Loading scene snapshot from: \n" << path;
- nlohmann::json j;
try
{
- j = nlohmann::read_json(path);
+ return simox::json::read<armarx::objects::Scene>(path);
}
- catch (const std::ios_base::failure& e)
+ catch (const simox::json::error::JsonError& e)
{
ARMARX_WARNING << "Loading scene snapshot failed: \n" << e.what();
return std::nullopt;
}
-
- armarx::objects::Scene snapshot = j;
- return snapshot;
}
--
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