From ddddfe276c9038a29b9958ac5a52be69b699c87c Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Mon, 29 Nov 2021 16:28:56 +0100
Subject: [PATCH] Make JSON visitor for human-readable formatting
---
.../libraries/armem_gui/CMakeLists.txt | 2 +
.../armem_gui/instance/InstanceView.cpp | 12 +-
.../tree_visitors/TreeTypedJSONConverter.cpp | 288 ++++++++++++++++++
.../tree_visitors/TreeTypedJSONConverter.h | 56 ++++
.../aron/core/data/visitor/RecursiveVisitor.h | 8 +-
5 files changed, 358 insertions(+), 8 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index 2a781dd39..46fce90ac 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -41,6 +41,7 @@ set(SOURCES
instance/tree_visitors/TreeDataVisitorBase.cpp
instance/tree_visitors/TreeDataVisitor.cpp
instance/tree_visitors/TreeTypedDataVisitor.cpp
+ instance/tree_visitors/TreeTypedJSONConverter.cpp
memory/GroupBox.cpp
memory/TreeWidget.cpp
@@ -81,6 +82,7 @@ set(HEADERS
instance/tree_visitors/TreeDataVisitorBase.h
instance/tree_visitors/TreeDataVisitor.h
instance/tree_visitors/TreeTypedDataVisitor.h
+ instance/tree_visitors/TreeTypedJSONConverter.h
memory/GroupBox.h
memory/TreeWidget.h
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index b1f347c46..bcfce34f3 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -1,4 +1,5 @@
#include "InstanceView.h"
+#include <new>
#include <QAction>
#include <QApplication>
@@ -20,7 +21,6 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -33,6 +33,7 @@
#include <RobotAPI/libraries/armem_gui/instance/serialize_path.h>
#include <RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h>
#include <RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h>
+#include <RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h>
#include "MemoryIDTreeWidgetItem.h"
#include "WidgetsWithToolbar.h"
@@ -429,10 +430,13 @@ namespace armarx::armem::gui::instance
try
{
aron::data::VariantPtr element = currentInstance->data()->navigateAbsolute(path);
- nlohmann::json json =
- aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(element);
+ TreeTypedJSONConverter conv;
+ // TODO(phesch): Type hierarchy doesn't match data hierarchy
+ armarx::aron::data::visitRecursive(conv, currentInstance->data(), currentAronType);
+ //nlohmann::json json =
+ // aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(element);
QClipboard* clipboard = QApplication::clipboard();
- clipboard->setText(QString::fromStdString(json.dump(2)));
+ clipboard->setText(QString::fromStdString(conv.getJSON().dump(2)));
QApplication::processEvents();
}
catch (const aron::error::AronException& e)
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
new file mode 100644
index 000000000..f4cf3788d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
@@ -0,0 +1,288 @@
+#include "TreeTypedJSONConverter.h"
+
+#include <SimoxUtility/json/eigen_conversion.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include "RobotAPI/libraries/aron/core/Exception.h"
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
+
+namespace armarx::armem::gui::instance
+{
+ TreeTypedJSONConverter::TreeTypedJSONConverter()
+ {
+ jsonStack.push({"", nlohmann::json()});
+ }
+
+ const nlohmann::json&
+ TreeTypedJSONConverter::getJSON()
+ {
+ nlohmann::json& obj = jsonStack.top().second;
+ if (obj.front().is_object())
+ {
+ return obj.front();
+ }
+ return obj;
+ }
+
+ void
+ TreeTypedJSONConverter::visitObjectOnEnter(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ std::string key = "";
+ try
+ {
+ key = elementData->getPath().getLastElement();
+ }
+ catch (const aron::error::AronException& e)
+ {
+ ARMARX_WARNING << "Object did not have a path." << e.getReason();
+ }
+ jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::object)});
+ }
+
+ void
+ TreeTypedJSONConverter::visitObjectOnExit(DataInput& /*elementData*/,
+ TypeInput& /*elementType*/)
+ {
+ auto obj = jsonStack.top();
+ jsonStack.pop();
+ insertIntoJSON(obj.first, obj.second);
+ }
+
+ void
+ TreeTypedJSONConverter::visitDictOnEnter(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitObjectOnEnter(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitDictOnExit(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitObjectOnExit(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitPairOnEnter(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitListOnEnter(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitPairOnExit(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitListOnExit(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitTupleOnEnter(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitListOnEnter(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitTupleOnExit(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitListOnExit(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitListOnEnter(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::array)});
+ }
+
+ void
+ TreeTypedJSONConverter::visitListOnExit(DataInput& /*elementData*/, TypeInput& /*elementType*/)
+ {
+ auto list = jsonStack.top();
+ jsonStack.pop();
+ insertIntoJSON(list.first, list.second);
+ }
+
+ void
+ TreeTypedJSONConverter::visitMatrix(DataInput& elementData, TypeInput& elementType)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ auto t = *aron::type::Matrix::DynamicCastAndCheck(elementType);
+ nlohmann::json obj;
+ if (nd.getType() == "float")
+ {
+ Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<float*>(nd.getData()), t.getRows(), t.getCols());
+ Eigen::to_json(obj, m);
+ }
+ else if (nd.getType() == "double")
+ {
+ Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<double*>(nd.getData()), t.getRows(), t.getCols());
+ Eigen::to_json(obj, m);
+ }
+ else
+ {
+ obj = handleGenericNDArray(nd);
+ }
+ insertIntoJSON(key, obj);
+ }
+
+ void
+ TreeTypedJSONConverter::visitNDArray(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+
+ void
+ TreeTypedJSONConverter::visitQuaternion(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ nlohmann::json obj;
+ Eigen::to_json(obj, aron::converter::AronEigenConverter::ConvertToQuaternionf(nd));
+ insertIntoJSON(key, obj);
+ }
+
+ void
+ TreeTypedJSONConverter::visitOrientation(DataInput& elementData, TypeInput& elementType)
+ {
+ this->visitQuaternion(elementData, elementType);
+ }
+
+ void
+ TreeTypedJSONConverter::visitPosition(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ nlohmann::json obj;
+ Eigen::to_json(obj, aron::converter::AronEigenConverter::ConvertToVector3f(nd));
+ insertIntoJSON(key, obj);
+ }
+
+ void
+ TreeTypedJSONConverter::visitPose(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ nlohmann::json obj;
+ Eigen::to_json(obj, aron::converter::AronEigenConverter::ConvertToMatrix4f(nd));
+ insertIntoJSON(key, obj);
+ }
+
+ void
+ TreeTypedJSONConverter::visitImage(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+
+ void
+ TreeTypedJSONConverter::visitPointCloud(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+
+ void
+ TreeTypedJSONConverter::visitIntEnum(DataInput& elementData, TypeInput& elementType)
+ {
+ /* Not handled by the TreeTypedDataVisitor either */
+ }
+
+ void
+ TreeTypedJSONConverter::visitInt(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ int i = *aron::data::Int::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, i);
+ }
+
+ void
+ TreeTypedJSONConverter::visitLong(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, l);
+ }
+
+ void
+ TreeTypedJSONConverter::visitFloat(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ float f = *aron::data::Float::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, f);
+ }
+
+ void
+ TreeTypedJSONConverter::visitDouble(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ double d = *aron::data::Double::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, d);
+ }
+
+ void
+ TreeTypedJSONConverter::visitBool(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ bool b = *aron::data::Bool::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, b);
+ }
+
+ void
+ TreeTypedJSONConverter::visitString(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ std::string s = *aron::data::String::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, s);
+ }
+
+ void
+ TreeTypedJSONConverter::visitTime(DataInput& elementData, TypeInput& /*elementType*/)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
+ armem::Time time = armem::Time::microSeconds(l);
+ insertIntoJSON(key, l);
+ if (!jsonStack.top().second.is_array())
+ {
+ insertIntoJSON(key + "_hr", armem::toDateTimeMilliSeconds(time));
+ }
+ }
+
+ template <typename ElementType>
+ void
+ TreeTypedJSONConverter::insertIntoJSON(const std::string& key, const ElementType& data)
+ {
+ if (jsonStack.top().second.is_object())
+ {
+ jsonStack.top().second[key] = nlohmann::json(data);
+ }
+ else
+ {
+ jsonStack.top().second.emplace_back(data);
+ }
+ }
+
+ nlohmann::json
+ TreeTypedJSONConverter::handleGenericNDArray(const aron::data::NDArray& nd)
+ {
+ nlohmann::json ndobj;
+ std::vector<int> shape = nd.getShape();
+ ndobj["dimensions"] = shape;
+ ndobj["type"] = nd.getType();
+
+ int elements =
+ shape.empty()
+ ? 0
+ : std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<>());
+ std::vector<unsigned char> d = std::vector<unsigned char>(elements);
+ memcpy(d.data(), nd.getData(), elements);
+ ndobj["data"] = d;
+ return ndobj;
+ }
+} // namespace armarx::armem::gui::instance
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
new file mode 100644
index 000000000..7a112979e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
@@ -0,0 +1,56 @@
+#pragma once
+
+#include <stack>
+#include <utility>
+
+#include <SimoxUtility/json/json.hpp>
+
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::armem::gui::instance
+{
+ class TreeTypedJSONConverter : public aron::data::RecursiveConstTypedVariantVisitor
+ {
+ public:
+ TreeTypedJSONConverter();
+ ~TreeTypedJSONConverter() override = default;
+
+ const nlohmann::json& getJSON();
+
+ void visitObjectOnEnter(DataInput& elementData, TypeInput& elementType) override;
+ void visitObjectOnExit(DataInput& elementData, TypeInput& elementType) override;
+ void visitDictOnEnter(DataInput& elementData, TypeInput& elementType) override;
+ void visitDictOnExit(DataInput& elementData, TypeInput& elementType) override;
+ void visitPairOnEnter(DataInput& elementData, TypeInput& elementType) override;
+ void visitPairOnExit(DataInput& elementData, TypeInput& elementType) override;
+ void visitTupleOnEnter(DataInput& elementData, TypeInput& elementType) override;
+ void visitTupleOnExit(DataInput& elementData, TypeInput& elementType) override;
+ void visitListOnEnter(DataInput& elementData, TypeInput& elementType) override;
+ void visitListOnExit(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitMatrix(DataInput& elementData, TypeInput& elementType) override;
+ void visitNDArray(DataInput& elementData, TypeInput& elementType) override;
+ void visitQuaternion(DataInput& elementData, TypeInput& elementType) override;
+ void visitOrientation(DataInput& elementData, TypeInput& elementType) override;
+ void visitPosition(DataInput& elementData, TypeInput& elementType) override;
+ void visitPose(DataInput& elementData, TypeInput& elementType) override;
+ void visitImage(DataInput& elementData, TypeInput& elementType) override;
+ void visitPointCloud(DataInput& elementData, TypeInput& elementType) override;
+ void visitIntEnum(DataInput& elementData, TypeInput& elementType) override;
+ void visitInt(DataInput& elementData, TypeInput& elementType) override;
+ void visitLong(DataInput& elementData, TypeInput& elementType) override;
+ void visitFloat(DataInput& elementData, TypeInput& elementType) override;
+ void visitDouble(DataInput& elementData, TypeInput& elementType) override;
+ void visitBool(DataInput& elementData, TypeInput& elementType) override;
+ void visitString(DataInput& elementData, TypeInput& elementType) override;
+ void visitTime(DataInput& elementData, TypeInput& elementType) override;
+
+ private:
+ std::stack<std::pair<std::string, nlohmann::json>> jsonStack;
+
+ template <typename ElementType>
+ void insertIntoJSON(const std::string& key, const ElementType& data);
+
+ static nlohmann::json handleGenericNDArray(const aron::data::NDArray& nd);
+ };
+} // namespace armarx::armem::gui::instance
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index 2cb8658db..13bb05bab 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -128,9 +128,9 @@ namespace armarx::aron::data
case type::Descriptor::eDict:
{
v.visitDictOnEnter(o, t);
- for (auto& [key, value, acceptedType] : v.getDictElements(o, t))
+ for (auto& [key, pair] : v.getDictElements(o, t))
{
- visitRecursive(v, value, acceptedType);
+ visitRecursive(v, pair.first, pair.second);
}
v.visitDictOnExit(o, t);
return;
@@ -138,9 +138,9 @@ namespace armarx::aron::data
case type::Descriptor::eObject:
{
v.visitObjectOnEnter(o, t);
- for (auto& [key, value, acceptedType] : v.getObjectElements(o, t))
+ for (auto& [key, pair] : v.getObjectElements(o, t))
{
- visitRecursive(v, value, acceptedType);
+ visitRecursive(v, pair.first, pair.second);
}
v.visitObjectOnExit(o, t);
return;
--
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