Handle removed toJSON()

source/armarx/navigation/core/CMakeLists.txt

@@ -15,6 +15,7 @@ armarx_add_library(core
         types.cpp
         Graph.cpp
         aron_conversions.cpp
+        json_conversions.cpp
         time/ChronoMonotonicTimeServer.cpp
     HEADERS
         types.h
@@ -27,6 +28,7 @@ armarx_add_library(core
         Graph.h
         TopologicScene.h
         aron_conversions.h
+        json_conversions.h
         time/ChronoMonotonicTimeServer.h
         time/TimeServerInterface.h
     DEPENDENCIES

source/armarx/navigation/core/Graph.cpp

@@ -31,6 +31,7 @@
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
 #include <armarx/navigation/location/aron/Location.aron.generated.h>
+#include <armarx/navigation/core/json_conversions.h>
 
 
 namespace armarx::navigation::core
@@ -80,7 +81,7 @@ namespace armarx::navigation::core
 
         ss << " cost " << edge.attrib().cost()
            << ", type: " << static_cast<int>(edge.attrib().strategy) << " , has traj "
-           << edge.attrib().trajectory.has_value() << ", aron: " << edge.attrib().aron.toJSON();
+           << edge.attrib().trajectory.has_value() << ", aron: " << nlohmann::json(edge.attrib().aron);
 
         return ss.str();
     }

source/armarx/navigation/core/json_conversions.cpp

+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "json_conversions.h"
+
+#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
+
+
+namespace armarx::navigation::core
+{
+
+    void arondto::to_json(nlohmann::json& j, const Edge& bo)
+    {
+        armarx::aron::data::writer::NlohmannJSONWriter writer;
+        j = bo.write(writer);
+    }
+
+
+    void arondto::from_json(const nlohmann::json& j, Edge& bo)
+    {
+        armarx::aron::data::reader::NlohmannJSONReader reader;
+        bo.read<armarx::aron::data::reader::NlohmannJSONReader::InputType>(reader, j);
+    }
+
+
+} // namespace armarx::navigation::core

source/armarx/navigation/core/json_conversions.h

+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <SimoxUtility/json/json.hpp>
+
+#include <armarx/navigation/core/aron/Graph.aron.generated.h>
+
+
+namespace armarx::navigation::core::arondto
+{
+
+    void to_json(nlohmann::json& j, const arondto::Edge& bo);
+    void from_json(const nlohmann::json& j, arondto::Edge& bo);
+
+
+} // namespace armarx::navigation::graph