diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
index f458e3d9973bf34dd2dc13e49b5f505db4e403e4..3b7418fe505dc5a82e54285404ab44708f4d33c5 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
@@ -33,7 +33,8 @@ namespace armarx::aron::data
{
// Access method
- std::unique_ptr<data::Variant> VariantFactory::create(const data::dto::GenericDataPtr& aron, const Path& path) const
+ std::unique_ptr<data::Variant>
+ VariantFactory::create(const data::dto::GenericDataPtr& aron, const Path& path) const
{
// if aron is null ==> e.g. optional or ptr not set
if (!aron)
@@ -41,20 +42,47 @@ namespace armarx::aron::data
return nullptr;
};
+ // compare versions
+ auto aronVersion = aron->VERSION;
+ if (aronVersion != armarx::aron::VERSION)
+ {
+ ARMARX_WARNING
+ << "Found inconsistencies in aron versions. This may lead to ice marshalling "
+ "exceptions. Please make sure to update the sender and receiver packages. "
+ << aronVersion << " != " << armarx::aron::VERSION;
+ }
+
auto descriptor = data::Aron2Descriptor(*aron);
- switch(descriptor)
+ switch (descriptor)
{
- case data::Descriptor::LIST: return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
- case data::Descriptor::DICT: return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
- case data::Descriptor::NDARRAY: return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron), path);
- case data::Descriptor::INT: return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
- case data::Descriptor::LONG: return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron), path);
- case data::Descriptor::FLOAT: return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron), path);
- case data::Descriptor::DOUBLE: return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron), path);
- case data::Descriptor::STRING: return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron), path);
- case data::Descriptor::BOOL: return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron), path);
- case data::Descriptor::UNKNOWN: break;
+ case data::Descriptor::LIST:
+ return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
+ case data::Descriptor::DICT:
+ return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
+ case data::Descriptor::NDARRAY:
+ return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::INT:
+ return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
+ case data::Descriptor::LONG:
+ return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::FLOAT:
+ return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::DOUBLE:
+ return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::STRING:
+ return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::BOOL:
+ return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron),
+ path);
+ case data::Descriptor::UNKNOWN:
+ break;
}
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "", std::to_string((int) descriptor), path);
+ throw error::ValueNotValidException(
+ __PRETTY_FUNCTION__, "", std::to_string((int)descriptor), path);
}
-}
+} // namespace armarx::aron::data
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
index 405a5e7487213fc8097acc09986a8012b81edfad..fccc4e1306af41cc3498c700f8ed448e83d42b7b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
@@ -32,32 +32,85 @@
namespace armarx::aron::type
{
// Access method
- std::unique_ptr<type::Variant> VariantFactory::create(const type::dto::GenericType& aron, const Path& path) const
+ std::unique_ptr<type::Variant>
+ VariantFactory::create(const type::dto::GenericType& aron, const Path& path) const
{
+
+ auto aronVersion = aron.VERSION;
+ if (aronVersion != armarx::aron::VERSION)
+ {
+ ARMARX_WARNING
+ << "Found inconsistencies in aron versions. This may lead to ice marshalling "
+ "exceptions. Please make sure to update the sender and receiver packages. "
+ << aronVersion << " != " << armarx::aron::VERSION;
+ }
+
auto descriptor = type::Aron2Descriptor(aron);
- switch(descriptor)
+ switch (descriptor)
{
- case type::Descriptor::LIST: return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron), path);
- case type::Descriptor::DICT: return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron), path);
- case type::Descriptor::PAIR: return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron), path);
- case type::Descriptor::TUPLE: return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron), path);
- case type::Descriptor::OBJECT: return std::make_unique<type::Object>(dynamic_cast<const type::dto::AronObject&>(aron), path);
- case type::Descriptor::NDARRAY: return std::make_unique<type::NDArray>(dynamic_cast<const type::dto::NDArray&>(aron), path);
- case type::Descriptor::MATRIX: return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron), path);
- case type::Descriptor::IMAGE: return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron), path);
- case type::Descriptor::POINTCLOUD: return std::make_unique<type::PointCloud>(dynamic_cast<const type::dto::PointCloud&>(aron), path);
- case type::Descriptor::QUATERNION: return std::make_unique<type::Quaternion>(dynamic_cast<const type::dto::Quaternion&>(aron), path);
- case type::Descriptor::INT_ENUM: return std::make_unique<type::IntEnum>(dynamic_cast<const type::dto::IntEnum&>(aron), path);
- case type::Descriptor::INT: return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron), path);
- case type::Descriptor::LONG: return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron), path);
- case type::Descriptor::FLOAT: return std::make_unique<type::Float>(dynamic_cast<const type::dto::AronFloat&>(aron), path);
- case type::Descriptor::DOUBLE: return std::make_unique<type::Double>(dynamic_cast<const type::dto::AronDouble&>(aron), path);
- case type::Descriptor::STRING: return std::make_unique<type::String>(dynamic_cast<const type::dto::AronString&>(aron), path);
- case type::Descriptor::BOOL: return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron), path);
- case type::Descriptor::ANY_OBJECT: return std::make_unique<type::AnyObject>(dynamic_cast<const type::dto::AnyObject&>(aron), path);
- case type::Descriptor::UNKNOWN: break;
+ case type::Descriptor::LIST:
+ return std::make_unique<type::List>(dynamic_cast<const type::dto::List&>(aron),
+ path);
+ case type::Descriptor::DICT:
+ return std::make_unique<type::Dict>(dynamic_cast<const type::dto::Dict&>(aron),
+ path);
+ case type::Descriptor::PAIR:
+ return std::make_unique<type::Pair>(dynamic_cast<const type::dto::Pair&>(aron),
+ path);
+ case type::Descriptor::TUPLE:
+ return std::make_unique<type::Tuple>(dynamic_cast<const type::dto::Tuple&>(aron),
+ path);
+ case type::Descriptor::OBJECT:
+ return std::make_unique<type::Object>(
+ dynamic_cast<const type::dto::AronObject&>(aron), path);
+ case type::Descriptor::NDARRAY:
+ return std::make_unique<type::NDArray>(
+ dynamic_cast<const type::dto::NDArray&>(aron), path);
+ case type::Descriptor::MATRIX:
+ return std::make_unique<type::Matrix>(dynamic_cast<const type::dto::Matrix&>(aron),
+ path);
+ case type::Descriptor::IMAGE:
+ return std::make_unique<type::Image>(dynamic_cast<const type::dto::Image&>(aron),
+ path);
+ case type::Descriptor::POINTCLOUD:
+ return std::make_unique<type::PointCloud>(
+ dynamic_cast<const type::dto::PointCloud&>(aron), path);
+ case type::Descriptor::QUATERNION:
+ return std::make_unique<type::Quaternion>(
+ dynamic_cast<const type::dto::Quaternion&>(aron), path);
+ case type::Descriptor::INT_ENUM:
+ return std::make_unique<type::IntEnum>(
+ dynamic_cast<const type::dto::IntEnum&>(aron), path);
+ case type::Descriptor::INT:
+ return std::make_unique<type::Int>(dynamic_cast<const type::dto::AronInt&>(aron),
+ path);
+ case type::Descriptor::LONG:
+ return std::make_unique<type::Long>(dynamic_cast<const type::dto::AronLong&>(aron),
+ path);
+ case type::Descriptor::FLOAT:
+ return std::make_unique<type::Float>(
+ dynamic_cast<const type::dto::AronFloat&>(aron), path);
+ case type::Descriptor::DOUBLE:
+ return std::make_unique<type::Double>(
+ dynamic_cast<const type::dto::AronDouble&>(aron), path);
+ case type::Descriptor::STRING:
+ return std::make_unique<type::String>(
+ dynamic_cast<const type::dto::AronString&>(aron), path);
+ case type::Descriptor::BOOL:
+ return std::make_unique<type::Bool>(dynamic_cast<const type::dto::AronBool&>(aron),
+ path);
+ case type::Descriptor::ANY_OBJECT:
+ return std::make_unique<type::AnyObject>(
+ dynamic_cast<const type::dto::AnyObject&>(aron), path);
+ case type::Descriptor::UNKNOWN:
+ break;
}
- throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Got an unknown descriptor", std::to_string((int) descriptor) + " aka " + defaultconversion::string::Descriptor2String.at(descriptor), path);
+ throw error::ValueNotValidException(
+ __PRETTY_FUNCTION__,
+ "Got an unknown descriptor",
+ std::to_string((int)descriptor) + " aka " +
+ defaultconversion::string::Descriptor2String.at(descriptor),
+ path);
}
-}
+} // namespace armarx::aron::type