From 15bf6e0736afdae184142a0edaaba359e98ed822 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 16 Nov 2023 10:28:13 +0100
Subject: [PATCH] Add JSON conversions for Names
---
source/RobotAPI/libraries/core/CMakeLists.txt | 5 +-
.../libraries/core/json_conversions.cpp | 46 +++++++++++++++++++
.../libraries/core/json_conversions.h | 41 +++--------------
3 files changed, 56 insertions(+), 36 deletions(-)
create mode 100644 source/RobotAPI/libraries/core/json_conversions.cpp
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 5be7d695e..7756a2cd5 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -20,6 +20,8 @@ set(LIBS RobotAPIInterfaces ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreE
)
set(LIB_FILES
+ json_conversions.cpp
+
PIDController.cpp
Trajectory.cpp
TrajectoryController.cpp
@@ -62,6 +64,7 @@ set(LIB_FILES
set(LIB_HEADERS
forward_declarations.h
+ json_conversions.h
PIDController.h
MultiDimPIDController.h
@@ -113,8 +116,6 @@ set(LIB_HEADERS
#diffik/NaturalDiffIK.h
#diffik/SimpleDiffIK.h
-
- json_conversions.h
)
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/core/json_conversions.cpp b/source/RobotAPI/libraries/core/json_conversions.cpp
new file mode 100644
index 000000000..be883c3db
--- /dev/null
+++ b/source/RobotAPI/libraries/core/json_conversions.cpp
@@ -0,0 +1,46 @@
+#include "json_conversions.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/Names.h>
+
+void
+armarx::to_json(nlohmann::json& j, const FramedPose& fp)
+{
+ j = nlohmann::json{{"agent", fp.agent},
+ {"frame", fp.frame},
+ {"qw", fp.orientation->qw},
+ {"qx", fp.orientation->qx},
+ {"qy", fp.orientation->qy},
+ {"qz", fp.orientation->qz},
+ {"x", fp.position->x},
+ {"y", fp.position->y},
+ {"z", fp.position->z}};
+}
+
+void
+armarx::from_json(const nlohmann::json& j, FramedPose& fp)
+{
+ j.at("agent").get_to(fp.agent);
+ j.at("frame").get_to(fp.frame);
+ j.at("qw").get_to(fp.orientation->qw);
+ j.at("qx").get_to(fp.orientation->qx);
+ j.at("qy").get_to(fp.orientation->qy);
+ j.at("qz").get_to(fp.orientation->qz);
+ j.at("x").get_to(fp.position->x);
+ j.at("y").get_to(fp.position->y);
+ j.at("z").get_to(fp.position->z);
+}
+
+void
+armarx::to_json(simox::json::json& j, const Names& value)
+{
+ j["recognized"] = value.recognized;
+ j["spoken"] = value.spoken;
+}
+
+void
+armarx::from_json(const simox::json::json& j, Names& value)
+{
+ j.at("recognized").get_to(value.recognized);
+ j.at("spoken").get_to(value.spoken);
+}
diff --git a/source/RobotAPI/libraries/core/json_conversions.h b/source/RobotAPI/libraries/core/json_conversions.h
index bccd85c68..0d45d0f05 100644
--- a/source/RobotAPI/libraries/core/json_conversions.h
+++ b/source/RobotAPI/libraries/core/json_conversions.h
@@ -20,45 +20,18 @@
* GNU General Public License
*/
-
#pragma once
-
-// Simox
#include <SimoxUtility/json.h>
-// RobotAPI
-#include <RobotAPI/libraries/core/FramedPose.h>
-
+#include <RobotAPI/libraries/core/forward_declarations.h>
namespace armarx
{
- void to_json(nlohmann::json& j, const FramedPose& fp)
- {
- j = nlohmann::json
- {
- {"agent", fp.agent},
- {"frame", fp.frame},
- {"qw", fp.orientation->qw},
- {"qx", fp.orientation->qx},
- {"qy", fp.orientation->qy},
- {"qz", fp.orientation->qz},
- {"x", fp.position->x},
- {"y", fp.position->y},
- {"z", fp.position->z}
- };
- }
+ void to_json(nlohmann::json& j, const FramedPose& fp);
+ void from_json(const nlohmann::json& j, FramedPose& fp);
+
+ void to_json(simox::json::json& j, const Names& value);
+ void from_json(const simox::json::json& j, Names& value);
- void from_json(const nlohmann::json& j, FramedPose& fp)
- {
- j.at("agent").get_to(fp.agent);
- j.at("frame").get_to(fp.frame);
- j.at("qw").get_to(fp.orientation->qw);
- j.at("qx").get_to(fp.orientation->qx);
- j.at("qy").get_to(fp.orientation->qy);
- j.at("qz").get_to(fp.orientation->qz);
- j.at("x").get_to(fp.position->x);
- j.at("y").get_to(fp.position->y);
- j.at("z").get_to(fp.position->z);
- }
-}
+} // namespace armarx
--
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