From 3083faf5c8944fd1c08504f070051c7acebd0ecf Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Fri, 14 May 2021 19:32:20 +0200
Subject: [PATCH] aron refactoring. Optional and Ptr improvements + auto
include cpp filenames from aron include
---
source/RobotAPI/interface/aron/Aron.ice | 2 +-
.../RobotAPI/libraries/aron/core/Exception.h | 18 +++++
.../RobotAPI/libraries/aron/core/Randomizer.h | 8 +--
.../codeWriter/cpp/AronCppClass.h | 4 +-
.../codegenerator/codeWriter/cpp/Writer.cpp | 46 +++++++------
.../cpp/serializer/AllSerializers.h | 8 ++-
.../codeWriter/cpp/serializer/Serializer.cpp | 37 +++++++---
.../codeWriter/cpp/serializer/Serializer.h | 6 +-
.../cpp/serializer/SerializerFactory.cpp | 37 +++-------
.../cpp/serializer/container/Dict.cpp | 13 ++--
.../cpp/serializer/container/Dict.h | 4 +-
.../cpp/serializer/container/List.cpp | 13 ++--
.../cpp/serializer/container/List.h | 2 -
.../cpp/serializer/container/Object.cpp | 19 +++---
.../cpp/serializer/container/Object.h | 4 +-
.../cpp/serializer/container/Pair.cpp | 24 +++----
.../cpp/serializer/container/Pair.h | 5 +-
.../cpp/serializer/container/Tuple.cpp | 21 +++---
.../cpp/serializer/container/Tuple.h | 4 +-
.../detail/ContainerSerializerBase.h | 7 +-
.../serializer/detail/NDArraySerializerBase.h | 6 +-
.../detail/PrimitiveSerializerBase.h | 31 +++++++--
.../cpp/serializer/detail/SerializerBase.h | 17 +++--
.../cpp/serializer/enum/IntEnum.cpp | 7 +-
.../cpp/serializer/ndarray/EigenMatrix.cpp | 12 ++--
.../serializer/ndarray/EigenQuaternion.cpp | 10 +--
.../cpp/serializer/ndarray/IVTCByteImage.cpp | 17 ++---
.../cpp/serializer/ndarray/IVTCByteImage.h | 1 -
.../cpp/serializer/ndarray/NDArray.cpp | 6 +-
.../cpp/serializer/ndarray/OpenCVMat.cpp | 10 +--
.../cpp/serializer/ndarray/Orientation.cpp | 10 +--
.../cpp/serializer/ndarray/PCLPointCloud.cpp | 10 +--
.../cpp/serializer/ndarray/PCLPointCloud.h | 1 -
.../cpp/serializer/ndarray/Pose.cpp | 10 +--
.../cpp/serializer/ndarray/Position.cpp | 10 +--
.../cpp/serializer/primitive/Bool.cpp | 4 +-
.../cpp/serializer/primitive/Double.cpp | 4 +-
.../cpp/serializer/primitive/Float.cpp | 4 +-
.../cpp/serializer/primitive/Int.cpp | 4 +-
.../cpp/serializer/primitive/Long.cpp | 4 +-
.../cpp/serializer/primitive/Long.h | 12 ++--
.../cpp/serializer/primitive/String.cpp | 4 +-
.../cpp/serializer/primitive/String.h | 12 ++--
.../cpp/serializer/primitive/Time.cpp | 25 ++++++-
.../cpp/serializer/primitive/Time.h | 5 ++
.../cpp/serializer/toplevel/IntEnumClass.cpp | 8 +--
.../cpp/serializer/toplevel/IntEnumClass.h | 1 -
.../cpp/serializer/toplevel/ObjectClass.cpp | 9 +--
.../codegenerator/typeReader/xml/Data.cpp | 23 +++++++
.../core/codegenerator/typeReader/xml/Data.h | 9 +--
.../codegenerator/typeReader/xml/Reader.cpp | 13 ++--
.../codegenerator/typeReader/xml/Reader.h | 4 +-
.../typeReader/xml/ReaderFactory.cpp | 68 ++++++++++---------
.../typeReader/xml/ReaderFactory.h | 1 +
.../core/io/typeIO/converter/Converter.cpp | 38 +++++------
.../aron/core/io/typeIO/visitor/Visitor.cpp | 40 +++++------
.../core/navigator/data/primitive/String.h | 3 -
.../aron/core/test/xmls/IVTCByteImageTest.xml | 4 +-
.../aron/core/test/xmls/OptionalTest.xml | 2 +-
59 files changed, 413 insertions(+), 328 deletions(-)
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index c24e5cc1b..d40861c76 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -53,7 +53,7 @@ module armarx
};
class AronType {
- Maybe maybe; // Every type can be optional or not
+ Maybe maybe = Maybe::eNone; // Every type can have a maye type flag or not
}
sequence<AronType> AronTypeList;
dictionary<string, AronType> AronTypeDict;
diff --git a/source/RobotAPI/libraries/aron/core/Exception.h b/source/RobotAPI/libraries/aron/core/Exception.h
index bebe98d2a..5bd308a21 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.h
+++ b/source/RobotAPI/libraries/aron/core/Exception.h
@@ -124,6 +124,24 @@ namespace armarx::aron::error
}
};
+ class MaybeNotValidException :
+ public AronException
+ {
+ public:
+ MaybeNotValidException() = delete;
+ MaybeNotValidException(const std::string& caller, const std::string& method, const std::string& reason, const type::Maybe maybe) :
+ AronException(caller, method, reason + ". The name of the maybe-type was: " + type::MAYBE_TO_STRING(maybe))
+ {
+
+ }
+
+ MaybeNotValidException(const std::string& caller, const std::string& method, const std::string& reason, const type::Maybe maybe, const Path& path) :
+ AronException(caller, method, reason + ". The name of the maybe-type was: " + type::MAYBE_TO_STRING(maybe), path)
+ {
+
+ }
+ };
+
class StringNotValidException :
public AronException
{
diff --git a/source/RobotAPI/libraries/aron/core/Randomizer.h b/source/RobotAPI/libraries/aron/core/Randomizer.h
index b92bc4497..71b174230 100644
--- a/source/RobotAPI/libraries/aron/core/Randomizer.h
+++ b/source/RobotAPI/libraries/aron/core/Randomizer.h
@@ -170,9 +170,9 @@ namespace armarx::aron
}
}
- datanavigator::NavigatorPtr generateAronDataFromType(const typenavigator::NavigatorPtr& type, bool ignore_optional = false) const
+ datanavigator::NavigatorPtr generateAronDataFromType(const typenavigator::NavigatorPtr& type, bool ignore_maybe = false) const
{
- if (type->isOptional() && !ignore_optional)
+ if (type->getMaybe() != type::Maybe::eNone && !ignore_maybe)
{
if (fiftyPercentChance())
{
@@ -243,9 +243,9 @@ case type::Descriptor::e##upperType: \
{
if (!data)
{
- if (!type->isOptional())
+ if (!type->getMaybe() != type::Maybe::eNone)
{
- throw error::AronException("Randomizer", "initializeRandomly", "The data is null but the type is not optional. This is not valid.");
+ throw error::AronException("Randomizer", "initializeRandomly", "The data is null but the type is not a maybe type. This is not valid.");
}
if (fiftyPercentChance()) // 50% chance
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
index 8325b4d00..d50039b43 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -47,8 +47,8 @@ namespace armarx::aron::cppserializer
public:
AronCppClass() = default;
- virtual void reset() = 0;
- virtual void initialize() = 0;
+ virtual void resetHard() = 0;
+ virtual void resetSoft() = 0;
virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict = false) = 0;
virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
index 1643b64c7..0cdf58d6d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -90,7 +90,7 @@ namespace armarx::aron::cppserializer
{
const auto& nav = publicGenerateObjectType->correspondingType;
- //std::cout << "Generating: " << publicGenerateObjectType->correspondingObjectType->getName() << std::endl;
+ //std::cout << "Generating: " << nav->getName() << std::endl;
// Convert to Object type and create class object
if (nav == nullptr)
@@ -110,7 +110,7 @@ namespace armarx::aron::cppserializer
}
else
{
- c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
+ c->addInherit("public armarx::aron::cppserializer::AronCppClass");
c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>");
}
@@ -132,24 +132,24 @@ namespace armarx::aron::cppserializer
}
}
- //std::cout << "Generate Type classes" << std::endl;
+ std::cout << "Generate Type classes" << std::endl;
generateInnerTypeObjects(c, publicGenerateObjectType->nestedObjects);
// ctor
c->addCtor(serializer->toCtor(c->getName()));
// Generic methods
- //std::cout << "Generate equals method" << std::endl;
+ std::cout << "Generate equals method" << std::endl;
CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
- //std::cout << "Generate reset method" << std::endl;
- CppMethodPtr reset = serializer->toResetMethod();
- c->addMethod(reset);
+ std::cout << "Generate reset method" << std::endl;
+ CppMethodPtr resetHard = serializer->toResetHardMethod();
+ c->addMethod(resetHard);
- //std::cout << "Generate init method" << std::endl;
- CppMethodPtr setup = serializer->toInitializeMethod();
- c->addMethod(setup);
+ std::cout << "Generate init method" << std::endl;
+ CppMethodPtr resetSoft = serializer->toResetSoftMethod();
+ c->addMethod(resetSoft);
//std::cout << "Generate writeInit method" << std::endl;
CppMethodPtr writeType = serializer->toWriteTypeMethod();
@@ -174,6 +174,8 @@ namespace armarx::aron::cppserializer
c->addMethod(convert);
}
+ //std::cout << "set member vars" << std::endl;
+
// Add methods to set the member variables
for (const codegeneratorhelper::ReaderInfoPtr& info : dataReaders)
{
@@ -185,6 +187,8 @@ namespace armarx::aron::cppserializer
c->addMethod(convert);
}
+ //std::cout << "type writer methods" << std::endl;
+
// Typewritermethods
for (const codegeneratorhelper::WriterInfoPtr& info : initialTypeWriters)
{
@@ -196,6 +200,8 @@ namespace armarx::aron::cppserializer
c->addMethod(convert);
}
+ //std::cout << "push back" << std::endl;
+
typeClasses.push_back(c);
}
}
@@ -226,7 +232,7 @@ namespace armarx::aron::cppserializer
c->addInclude("<map>");
c->addInclude("<RobotAPI/interface/aron.h>");
- c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
+ c->addInherit("virtual public armarx::aron::cppserializer::AronCppClass");
c->addInclude("<RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>");
// ctor
@@ -262,12 +268,12 @@ namespace armarx::aron::cppserializer
c->addMethod(equals);
//std::cout << "Generate reset method" << std::endl;
- CppMethodPtr reset = serializer->toResetMethod();
- c->addMethod(reset);
+ CppMethodPtr resetHard = serializer->toResetHardMethod();
+ c->addMethod(resetHard);
//std::cout << "Generate init method" << std::endl;
- CppMethodPtr setup = serializer->toInitializeMethod();
- c->addMethod(setup);
+ CppMethodPtr resetSoft = serializer->toResetSoftMethod();
+ c->addMethod(resetSoft);
//std::cout << "Generate writeInit method" << std::endl;
CppMethodPtr writeInitialType = serializer->toWriteTypeMethod();
@@ -304,17 +310,17 @@ namespace armarx::aron::cppserializer
}
else
{
- c->addInherit("virtual public armarx::aron::cppcodegenerator::AronCppClass");
+ c->addInherit("virtual public armarx::aron::cppserializer::AronCppClass");
}
CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
- CppMethodPtr reset = serializer->toResetMethod();
- c->addMethod(reset);
+ CppMethodPtr resetHard = serializer->toResetHardMethod();
+ c->addMethod(resetHard);
- CppMethodPtr setup = serializer->toInitializeMethod();
- c->addMethod(setup);
+ CppMethodPtr resetSoft = serializer->toResetSoftMethod();
+ c->addMethod(resetSoft);
CppMethodPtr writeInitialType = serializer->toWriteTypeMethod();
c->addMethod(writeInitialType);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
index 20c5ab2be..dd01bd127 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
@@ -15,4 +15,10 @@
#include "ndarray/Orientation.h"
#include "ndarray/Pose.h"
#include "enum/IntEnum.h"
-#include "primitive/Primitive.h"
+#include "primitive/Int.h"
+#include "primitive/Long.h"
+#include "primitive/Float.h"
+#include "primitive/Double.h"
+#include "primitive/String.h"
+#include "primitive/Bool.h"
+#include "primitive/Time.h"
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index d574ed3d2..4265939ef 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -63,22 +63,40 @@ namespace armarx::aron::cppserializer
}
// static methods
- std::string Serializer::ResolveOptionalAccessor(const std::string& s, const typenavigator::NavigatorPtr& t)
+ std::string Serializer::ResolveMaybeAccessor(const std::string& s, const typenavigator::NavigatorPtr& t)
{
if (t->getMaybe() == type::Maybe::eOptional)
{
return s + ".value()";
}
+ if (t->getMaybe() == type::Maybe::eRawPointer || t->getMaybe() == type::Maybe::eSharedPointer || t->getMaybe() == type::Maybe::eUniquePointer)
+ {
+ return "*" + s;
+ }
return s;
}
- CppBlockPtr Serializer::ResolveOptionalWriteBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ CppBlockPtr Serializer::ResolveMaybeWriteBlock(const std::string& accessor, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
{
- if (typenavigator->getMaybe() == type::Maybe::eOptional)
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("if (" + accessor + ".has_value())");
- b->addBlock(block_if_data);
+ if (typenavigator->getMaybe() == type::Maybe::eOptional)
+ {
+ b->addLine("if (" + accessor + ".has_value())");
+ b->addBlock(block_if_data);
+ }
+ if (typenavigator->getMaybe() == type::Maybe::eRawPointer)
+ {
+ b->addLine("if (" + accessor + " == NULL)");
+ b->addBlock(block_if_data);
+ }
+ if (typenavigator->getMaybe() == type::Maybe::eSharedPointer || typenavigator->getMaybe() == type::Maybe::eUniquePointer)
+ {
+ b->addLine("if (" + accessor + " == nullptr)");
+ b->addBlock(block_if_data);
+ }
+
b->addLine("else");
CppBlockPtr block_if_no_data = std::make_shared<CppBlock>();
block_if_no_data->addLine("w.writeNull();");
@@ -91,7 +109,7 @@ namespace armarx::aron::cppserializer
}
}
- CppBlockPtr Serializer::ResolveOptionalReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ CppBlockPtr Serializer::ResolveMaybeReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
{
std::string escaped_accessor = EscapeAccessor(accessor);
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
@@ -153,6 +171,7 @@ namespace armarx::aron::cppserializer
SerializerPtr Serializer::FromAronTypeNaviagtorPtr(const typenavigator::NavigatorPtr& n)
{
+ ARMARX_CHECK_NOT_NULL(n);
return FACTORY->create(n, n->getPath());
}
@@ -187,7 +206,7 @@ namespace armarx::aron::cppserializer
CppCtorPtr c = CppCtorPtr(new CppCtor(name + "()"));
std::vector<std::pair<std::string, std::string>> initList = this->getCtorInitializers("");
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("initialize();");
+ b->addLine("resetHard();");
b->appendBlock(this->getCtorBlock(""));
c->addInitListEntries(initList);
c->setBlock(b);
@@ -225,7 +244,7 @@ namespace armarx::aron::cppserializer
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false)", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeType(armarx::aron::typeIO::WriterInterface& w, armarx::aron::type::Maybe __aronMaybeType = armarx::aron::type::Maybe::eNone)", doc.str()));
CppBlockPtr b = this->getWriteTypeBlock("");
m->setBlock(b);
return m;
@@ -253,7 +272,7 @@ namespace armarx::aron::cppserializer
CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict = false) override", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("this->reset();");
+ b->addLine("this->resetSoft();");
b->appendBlock(this->getReadBlock(""));
m->setBlock(b);
return m;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index ad74b45c4..1914c0e7c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -113,9 +113,9 @@ namespace armarx::aron::cppserializer
static SerializerPtr FromAronTypeNaviagtorPtr(const typenavigator::NavigatorPtr&);
- static std::string ResolveOptionalAccessor(const std::string&, const typenavigator::NavigatorPtr&);
- static CppBlockPtr ResolveOptionalWriteBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
- static CppBlockPtr ResolveOptionalReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static std::string ResolveMaybeAccessor(const std::string&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeWriteBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
protected:
static const std::string READ_START_RETURN_TYPE_ACCESSOR;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
index 34820852e..080176c57 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.cpp
@@ -34,38 +34,19 @@ namespace armarx::aron::cppserializer
// Access method
SerializerPtr SerializerFactory::create(const typenavigator::NavigatorPtr& n, const Path& path) const
{
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ {type::Descriptor::e##upperType, SerializerFactoryPtr(new upperType##SerializerFactory())},
static const std::map<type::Descriptor, SerializerFactoryPtr> Factories =
{
- {type::Descriptor::eObject, SerializerFactoryPtr(new ObjectSerializerFactory())},
- {type::Descriptor::eDict, SerializerFactoryPtr(new DictSerializerFactory())},
- {type::Descriptor::eList, SerializerFactoryPtr(new ListSerializerFactory())},
- {type::Descriptor::eTuple, SerializerFactoryPtr(new TupleSerializerFactory())},
- {type::Descriptor::ePair, SerializerFactoryPtr(new PairSerializerFactory())},
- {type::Descriptor::eNDArray, SerializerFactoryPtr(new NDArraySerializerFactory())},
- {type::Descriptor::eEigenMatrix, SerializerFactoryPtr(new EigenMatrixSerializerFactory())},
- {type::Descriptor::eEigenQuaternion, SerializerFactoryPtr(new EigenQuaternionSerializerFactory())},
- {type::Descriptor::eIVTCByteImage, SerializerFactoryPtr(new IVTCByteImageSerializerFactory())},
- {type::Descriptor::eOpenCVMat, SerializerFactoryPtr(new OpenCVMatSerializerFactory())},
- {type::Descriptor::ePCLPointCloud, SerializerFactoryPtr(new PCLPointCloudSerializerFactory())},
- {type::Descriptor::ePosition, SerializerFactoryPtr(new PositionSerializerFactory())},
- {type::Descriptor::eOrientation, SerializerFactoryPtr(new OrientationSerializerFactory())},
- {type::Descriptor::ePose, SerializerFactoryPtr(new PoseSerializerFactory())},
- {type::Descriptor::eIntEnum, SerializerFactoryPtr(new IntEnumSerializerFactory())},
- {type::Descriptor::eInt, SerializerFactoryPtr(new IntSerializerFactory())},
- {type::Descriptor::eLong, SerializerFactoryPtr(new LongSerializerFactory())},
- {type::Descriptor::eFloat, SerializerFactoryPtr(new FloatSerializerFactory())},
- {type::Descriptor::eDouble, SerializerFactoryPtr(new DoubleSerializerFactory())},
- {type::Descriptor::eString, SerializerFactoryPtr(new StringSerializerFactory())},
- {type::Descriptor::eBool, SerializerFactoryPtr(new BoolSerializerFactory())},
- {type::Descriptor::eTime, SerializerFactoryPtr(new TimeSerializerFactory())}
+ HANDLE_ALL_ARON_TYPES
};
+#undef RUN_ARON_MACRO
//CheckIfPtrIsNull("NavigatorFactory", "create", path, n);
- auto res = n->toAronPtr();
- auto factory_iterator = Factories.find(Resolver::GetDescriptor(res));
+ auto factory_iterator = Factories.find(n->getDescriptor());
if (factory_iterator == Factories.end())
{
- throw error::AronException("NavigatorFactory", "create", "Cannot find the desired factory for input (ice_id): " + res->ice_id() + ". Cannot create navigator", path);
+ throw error::AronException("NavigatorFactory", "create", "Cannot find the desired factory for input (ice_id): " + n->toAronPtr()->ice_id() + ". Cannot create navigator", path);
}
return factory_iterator->second->createSpecific(n, path);
}
@@ -77,11 +58,9 @@ namespace armarx::aron::cppserializer
// Factories
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- SerializerPtr upperType##SerializerFactory::createSpecific(const typenavigator::NavigatorPtr& n, const Path& path) const \
+ SerializerPtr upperType##SerializerFactory::createSpecific(const typenavigator::NavigatorPtr& n, const Path&) const \
{ \
- /*CheckIfInputIsNull("Aron"+std::string(#upperType)+"TypeCppSerializerFactory", "createSpecific[BeforeCast]", path, n); */\
- typenavigator::upperType##NavigatorPtr casted = typenavigator::upperType##Navigator::DynamicCast(n); \
- /*CheckIfInputIsNull("Aron"+std::string(#upperType)+"TypeCppSerializerFactory", "createSpecific[AfterCast]", path, casted); */\
+ typenavigator::upperType##NavigatorPtr casted = typenavigator::upperType##Navigator::DynamicCastAndCheck(n); \
return SerializerPtr(new serializer::upperType##Serializer(casted)); \
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index cec291fd1..d5ee832a5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -29,10 +29,9 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
DictSerializer::DictSerializer(const typenavigator::DictNavigatorPtr& e) :
- Serializer("std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>("std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronDict))),
- detail::SerializerBase<typenavigator::DictNavigator, DictSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronDict)), e)
{
}
@@ -54,7 +53,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr DictSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDict({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeStartDict({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
@@ -75,7 +74,7 @@ namespace armarx::aron::cppserializer::serializer
std::string accessor_iterator_key = escaped_accessor + DICT_KEY_ACCESSOR;
std::string accessor_iterator_val = escaped_accessor + DICT_VALUE_ACCESSOR;
- std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator);
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
block_if_data->addLine("for (const auto& [" + accessor_iterator_key + ", " + accessor_iterator_val + "] : " + resolved_accessor + ") ");
@@ -86,7 +85,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addBlock(b2);
block_if_data->addLine("w.writeEndDict();");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getReadBlock(const std::string& accessor) const
@@ -108,7 +107,7 @@ namespace armarx::aron::cppserializer::serializer
b2->addLine(accessor + nextEl() + "insert({" + accessor_iterator_key + ", " + accessor_iterator + "});");
block_if_data->addBlock(b2);
- return ResolveOptionalReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
}
CppBlockPtr DictSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
index 287585d2d..9bd48144a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<DictSerializer> DictSerializerPtr;
class DictSerializer :
- virtual public detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>
+ public detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>
{
public:
using PointerType = DictSerializerPtr;
@@ -63,7 +63,5 @@ namespace armarx::aron::cppserializer::serializer
static constexpr const char* DICT_ITERATOR_ACCESSOR = "_iterator";
static constexpr const char* DICT_KEY_ACCESSOR = "_key";
static constexpr const char* DICT_VALUE_ACCESSOR = "_value";
-
- typenavigator::DictNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index 7d1e67b70..1aa21fe91 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -28,12 +28,10 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
ListSerializer::ListSerializer(const typenavigator::ListNavigatorPtr& e) :
- Serializer("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ detail::ContainerSerializerBase<typenavigator::ListNavigator, ListSerializer>("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronList))),
- detail::SerializerBase<typenavigator::ListNavigator, ListSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronList)), e)
{
-
}
CppBlockPtr ListSerializer::getResetSoftBlock(const std::string& accessor) const
@@ -53,7 +51,8 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ListSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartList({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+
+ b->addLine("w.writeStartList({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
CppBlockPtr b2 = type_s->getWriteTypeBlock(type_s->getFullCppTypename());
@@ -76,7 +75,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addBlock(type_s->getWriteBlock(accessor + nextEl() + "at(" + accessor_iterator + ")"));
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ListSerializer::getReadBlock(const std::string& accessor) const
@@ -95,7 +94,7 @@ namespace armarx::aron::cppserializer::serializer
b2->addLine(accessor + nextEl() + "push_back(" + accessor_iterator + ");");
block_if_data->addBlock(b2);
- return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr ListSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
index 7073196ab..6b8afaabe 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
@@ -59,7 +59,5 @@ namespace armarx::aron::cppserializer::serializer
private:
// members
static constexpr const char* LIST_ITERATOR_ACCESSOR = "_iterator";
-
- typenavigator::ListNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 61f952777..c5dd78ce3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -29,23 +29,22 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- Serializer(e->getObjectName(),
+ detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>(e->getObjectName(),
simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronObject))),
- detail::SerializerBase<typenavigator::DictNavigator, DictSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronObject)), e)
{
}
CppBlockPtr ObjectSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->isOptional())
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
b->addLine(accessor + " = {};");
}
else
{
- b->addLine(accessor + nextEl() + "reset();");
+ b->addLine(accessor + nextEl() + "resetSoft();");
}
return b;
}
@@ -53,13 +52,13 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ObjectSerializer::getResetHardBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->isOptional())
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
b->addLine(accessor + " = {};");
}
else
{
- b->addLine(accessor + nextEl() + "initialize();");
+ b->addLine(accessor + nextEl() + "resetHard();");
}
return b;
}
@@ -67,7 +66,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ObjectSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
+ b->addLine(accessor + "::writeType(w, " + MAYBE_TO_STRING(typenavigator->getMaybe()) + ");");
return b;
}
@@ -76,14 +75,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine(accessor + nextEl() + "write(w);");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine(accessor + nextEl() + "read(r, true);");
- return ResolveOptionalReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartDict()", block_if_data, typenavigator);
}
CppBlockPtr ObjectSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
index 071abc6a0..d04a44557 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
@@ -41,7 +41,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<ObjectSerializer> ObjectSerializerPtr;
class ObjectSerializer :
- virtual public detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>
+ public detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>
{
public:
using PointerType = ObjectSerializerPtr;
@@ -61,7 +61,5 @@ namespace armarx::aron::cppserializer::serializer
private:
// members
static constexpr const char* EXTENDS_ITERATOR_ACCESSOR = "_extends";
-
- typenavigator::ObjectNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index 75cc12ead..5b7fac538 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -28,29 +28,27 @@
namespace armarx::aron::cppserializer::serializer
{
PairSerializer::PairSerializer(const typenavigator::PairNavigatorPtr& e) :
- Serializer("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
+ detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronPair))),
- detail::SerializerBase<typenavigator::PairNavigator, PairSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronPair)), e)
{
-
}
CppBlockPtr PairSerializer::getResetHardBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->isOptional())
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
b->addLine(accessor + " = {};");
}
else
{
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getInitializeBlock(accessor + nextEl() + "first");
+ CppBlockPtr b21 = child_s1->getResetHardBlock(accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getInitializeBlock(accessor + nextEl() + "second");
+ CppBlockPtr b22 = child_s2->getResetHardBlock(accessor + nextEl() + "second");
b->appendBlock(b22);
}
return b;
@@ -59,18 +57,18 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PairSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->isOptional())
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
b->addLine(accessor + " = {};");
}
else
{
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- CppBlockPtr b21 = child_s1->getResetBlock(accessor + nextEl() + "first");
+ CppBlockPtr b21 = child_s1->getResetSoftBlock(accessor + nextEl() + "first");
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- CppBlockPtr b22 = child_s2->getResetBlock(accessor + nextEl() + "second");
+ CppBlockPtr b22 = child_s2->getResetSoftBlock(accessor + nextEl() + "second");
b->appendBlock(b22);
}
return b;
@@ -79,7 +77,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PairSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPair({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeStartPair({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
@@ -114,7 +112,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getReadBlock(const std::string& accessor) const
@@ -130,7 +128,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->appendBlock(b22);
block_if_data->addLine("r.readEndList();");
- return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr PairSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
index fb9a71970..a7ef2495b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<PairSerializer> PairSerializerPtr;
class PairSerializer :
- virtual public detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>
+ public detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>
{
public:
using PointerType = PairSerializerPtr;
@@ -61,8 +61,5 @@ namespace armarx::aron::cppserializer::serializer
// members
static constexpr const char* PAIR_FIRST_ACCESSOR = "_first";
static constexpr const char* PAIR_SECOND_ACCESSOR = "_second";
-
-
- typenavigator::PairNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index abe891a15..643f16570 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -28,10 +28,9 @@
namespace armarx::aron::cppserializer::serializer
{
TupleSerializer::TupleSerializer(const typenavigator::TupleNavigatorPtr& e) :
- Serializer("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
+ detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronTuple))),
- detail::SerializerBase<typenavigator::TupleNavigator, TupleSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronTuple)), e)
{
}
@@ -48,7 +47,7 @@ namespace armarx::aron::cppserializer::serializer
for (const auto& child : typenavigator->getAcceptedTypes())
{
auto child_s = FromAronTypeNaviagtorPtr(child);
- CppBlockPtr b2 = child_s->getInitializeBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
+ CppBlockPtr b2 = child_s->getResetHardBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
b->appendBlock(b2);
}
}
@@ -58,7 +57,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr TupleSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (typenavigator->isOptional())
+ if (typenavigator->getMaybe() != type::Maybe::eNone)
{
b->addLine(accessor + " = {};");
}
@@ -68,7 +67,7 @@ namespace armarx::aron::cppserializer::serializer
for (const auto& type : typenavigator->getAcceptedTypes())
{
auto type_s = FromAronTypeNaviagtorPtr(type);
- CppBlockPtr b2 = type_s->getResetBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
+ CppBlockPtr b2 = type_s->getResetSoftBlock("std::get<" + std::to_string(i++) + ">(" + accessor + ")");
b->appendBlock(b2);
}
}
@@ -78,7 +77,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr TupleSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTuple({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeStartTuple({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
std::string escaped_accessor = EscapeAccessor(accessor);
unsigned int i = 0;
@@ -99,7 +98,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeStartList();");
- std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator);
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
unsigned int i = 0;
for (const auto& type : typenavigator->getAcceptedTypes())
@@ -110,14 +109,14 @@ namespace armarx::aron::cppserializer::serializer
}
block_if_data->addLine("w.writeEndList();");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator);
+ std::string resolved_accessor = ResolveMaybeAccessor(accessor, typenavigator);
unsigned int i = 0;
for (const auto& type : typenavigator->getAcceptedTypes())
@@ -127,7 +126,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->appendBlock(b2);
}
block_if_data->addLine("r.readEndList();");
- return ResolveOptionalReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartList()", block_if_data, typenavigator);
}
CppBlockPtr TupleSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
index 3cb5cc67c..d8ec0bf42 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<TupleSerializer> TupleSerializerPtr;
class TupleSerializer :
- virtual public detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>
+ public detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>
{
public:
using PointerType = TupleSerializerPtr;
@@ -60,7 +60,5 @@ namespace armarx::aron::cppserializer::serializer
private:
// members
static constexpr const char* TUPLE_ITERATOR_ACCESSOR = "_iterator";
-
- typenavigator::TupleNavigatorPtr typenavigator;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
index 6275e328b..d2ca8f77e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
@@ -37,9 +37,12 @@ namespace armarx::aron::cppserializer::detail
{
template<typename TypenavigatorT, typename DerivedT>
class ContainerSerializerBase :
- virtual public SerializerBase<TypenavigatorT, DerivedT>
+ public SerializerBase<TypenavigatorT, DerivedT>
{
-
public:
+ ContainerSerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
+ SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
+ {
+ }
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
index 7025af0ec..67b6c0435 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
@@ -37,9 +37,11 @@ namespace armarx::aron::cppserializer::detail
{
template<typename TypenavigatorT, typename DerivedT>
class NDArraySerializerBase :
- virtual public SerializerBase<TypenavigatorT, DerivedT>
+ public SerializerBase<TypenavigatorT, DerivedT>
{
-
public:
+ NDArraySerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
+ SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
+ {}
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
index 2747635d9..ef187424d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
@@ -37,32 +37,49 @@ namespace armarx::aron::cppserializer::detail
{
template<typename TypenavigatorT, typename DerivedT>
class PrimitiveSerializerBase :
- virtual public SerializerBase<TypenavigatorT, DerivedT>
+ public SerializerBase<TypenavigatorT, DerivedT>
{
-
public:
+ PrimitiveSerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
+ SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
+ {}
+
+ virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return b;
+ }
+
+ virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return b;
+ }
+
virtual CppBlockPtr getWriteBlock(const std::string& accessor) const override
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- std::string resolved_accessor = ResolveOptionalAccessor(accessor, this->typenavigator);
+ std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
block_if_data->addLine("w.writePrimitive(" + resolved_accessor + ");");
- return ResolveOptionalWriteBlock(accessor, block_if_data, this->typenavigator);
+ return this->ResolveMaybeWriteBlock(accessor, block_if_data, this->typenavigator);
}
virtual CppBlockPtr getReadBlock(const std::string& accessor) const override
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- std::string resolved_accessor = ResolveOptionalAccessor(accessor, this->typenavigator);
+ std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
block_if_data->addLine("r.readEndPrimitive(" + resolved_accessor + ");");
- return ResolveOptionalReadBlock(accessor, "r.readStartPrimitive()", block_if_data, this->typenavigator);
+ return this->ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, this->typenavigator);
}
virtual CppBlockPtr getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const override
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- b->addLine("t return false;");
+ b->addLine("\t return false;");
return b;
}
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
index 637c5de5e..06370ed75 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
@@ -37,15 +37,15 @@ namespace armarx::aron::cppserializer::detail
{
template<typename TypenavigatorT, typename DerivedT>
class SerializerBase :
- virtual public cppserializer::Serializer
+ public cppserializer::Serializer
{
public:
using PointerType = std::shared_ptr<DerivedT>;
using TypenavigatorType = TypenavigatorT;
public:
- SerializerBase() = default;
- SerializerBase(const typename TypenavigatorType::PointerType& t) :
+ SerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorType::PointerType& t) :
+ Serializer(cppName, aronDataTypename, aronTypeTypename),
typenavigator(t)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
@@ -57,6 +57,8 @@ namespace armarx::aron::cppserializer::detail
{
case type::Maybe::eNone:
return getCoreCppTypename();
+ case type::Maybe::eOptional:
+ return "std::optional<" + getCoreCppTypename() + ">";
case type::Maybe::eRawPointer:
return "*" + getCoreCppTypename();
case type::Maybe::eSharedPointer:
@@ -64,7 +66,7 @@ namespace armarx::aron::cppserializer::detail
case type::Maybe::eUniquePointer:
return "std::unique_ptr<" + getCoreCppTypename() + ">";
default:
- throw error::AronException("Serializer", "getFullCppTypename", "Received unknown maybe enum");
+ throw error::MaybeNotValidException("SerializerBase", "getFullCppTypename", "Received unknown maybe enum", typenavigator->getMaybe(), typenavigator->getPath());
}
}
@@ -74,6 +76,8 @@ namespace armarx::aron::cppserializer::detail
{
case type::Maybe::eNone:
return getCoreCppTypename();
+ case type::Maybe::eOptional:
+ return "std::make_optional<" + getCoreCppTypename() + ">";
case type::Maybe::eRawPointer:
return "new " + getCoreCppTypename();
case type::Maybe::eSharedPointer:
@@ -81,7 +85,7 @@ namespace armarx::aron::cppserializer::detail
case type::Maybe::eUniquePointer:
return "std::make_unique<" + getCoreCppTypename() + ">";
default:
- throw error::AronException("Serializer", "getFullTypenameGenerator", "Received unknown maybe enum");
+ throw error::MaybeNotValidException("SerializerBase", "getFullTypenameGenerator", "Received unknown maybe enum", typenavigator->getMaybe(), typenavigator->getPath());
}
}
@@ -110,12 +114,13 @@ namespace armarx::aron::cppserializer::detail
{
case type::Maybe::eNone:
return ".";
+ case type::Maybe::eOptional:
case type::Maybe::eRawPointer:
case type::Maybe::eSharedPointer:
case type::Maybe::eUniquePointer:
return "->";
default:
- throw error::AronException("Serializer", "nextEl", "Received unknown maybe enum");
+ throw error::MaybeNotValidException("SerializerBase", "nextEl", "Received unknown maybe enum", typenavigator->getMaybe(), typenavigator->getPath());
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index 70deabc17..73b9cfa58 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -28,10 +28,9 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& e) :
- Serializer(e->getEnumName(),
+ detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumSerializer>(e->getEnumName(),
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIntEnum))),
- detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumSerializer>(e)
+ simox::meta::get_type_name(typeid(type::AronIntEnum)), e)
{
}
@@ -75,7 +74,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine(accessor + nextEl() + "write(w);");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IntEnumSerializer::getReadBlock(const std::string& accessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index b4c02b76e..34c90f38a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -40,11 +40,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenMatrixSerializer::EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">",
+ detail::NDArraySerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronEigenMatrix))),
- detail::SerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronEigenMatrix)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getResetHardBlock(const std::string& accessor) const
@@ -73,20 +73,20 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols(), " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenMatrixSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
+ b->addLine("if (not (" + accessor + nextEl() + "isApprox(" + ResolveMaybeAccessor(otherInstanceAccessor, typenavigator) + ")))");
b->addLine("\t return false;");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index fe619bd29..17eca9bd2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -35,11 +35,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenQuaternionSerializer::EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr& n) :
- Serializer("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronEigenQuaternion))),
- detail::SerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronEigenQuaternion)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getResetHardBlock(const std::string& accessor) const
@@ -68,14 +68,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr EigenQuaternionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index 88b4fed73..f7f4a1d03 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -36,11 +36,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
IVTCByteImageSerializer::IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr& n) :
- Serializer("CByteImage",
+ detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>("CByteImage",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIVTCByteImage))),
- detail::SerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getResetHardBlock(const std::string& accessor) const
@@ -50,13 +50,6 @@ namespace armarx::aron::cppserializer::serializer
return b;
}
- CppBlockPtr IVTCByteImageSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return b;
- }
-
CppBlockPtr IVTCByteImageSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -76,7 +69,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + accessor + nextEl() + "bytesPerPixel}, std::to_string(" + accessor + nextEl() + "type), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "pixels));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getReadBlock(const std::string& accessor) const
@@ -87,7 +80,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor + nextEl() + "Set(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1], static_cast<CByteImage::ImageType>(std::stoi(" + read_start_result_accessor + ".type)));");
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index 98383381a..07e618429 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -53,7 +53,6 @@ namespace armarx::aron::cppserializer::serializer
virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
index 1c2623320..43e7f183f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -28,11 +28,11 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
NDArraySerializer::NDArraySerializer(const typenavigator::NDArrayNavigatorPtr& n) :
- Serializer("NDArray",
+ detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>("NDArray",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronNDArray))),
- detail::SerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronNDArray)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr NDArraySerializer::getResetHardBlock(const std::string& accessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index 83e4c4689..3631eb1ff 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -40,11 +40,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n) :
- Serializer("cv::Mat",
+ detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>("cv::Mat",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOpenCVMat))),
- detail::SerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronOpenCVMat)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
@@ -94,7 +94,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "elemSize());");
block_if_data->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr OpenCVMatSerializer::getReadBlock(const std::string& accessor) const
@@ -105,7 +105,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(std::vector<int>({" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())}), std::stoi(" + read_start_result_accessor + ".type));");
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index 428fd4553..13023745e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -28,11 +28,11 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
- Serializer("Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
+ detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>("Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOrientation))),
- detail::SerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronOrientation)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr OrientationSerializer::getResetHardBlock(const std::string& accessor) const
@@ -61,14 +61,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index e86b8ec3f..09196a8b6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -41,11 +41,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
PCLPointCloudSerializer::PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr& n) :
- Serializer("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPCLPointCloud))),
- detail::SerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronPCLPointCloud)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getResetHardBlock(const std::string& accessor) const
@@ -81,7 +81,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "points.data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getReadBlock(const std::string& accessor) const
@@ -92,7 +92,7 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1]);");
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 9c6ee7f80..88d9b337b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -52,7 +52,6 @@ namespace armarx::aron::cppserializer::serializer
virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index 4583bf988..f755e5442 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -28,11 +28,11 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
+ detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPose))),
- detail::SerializerBase<typenavigator::PoseNavigator, PoseSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronPose)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PoseSerializer::getResetHardBlock(const std::string& accessor) const
@@ -61,14 +61,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index d14b7f593..109294d85 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -28,11 +28,11 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
+ detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPosition))),
- detail::SerializerBase<typenavigator::PositionNavigator, PositionSerializer>(n)
+ simox::meta::get_type_name(typeid(type::AronPosition)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
CppBlockPtr PositionSerializer::getResetHardBlock(const std::string& accessor) const
@@ -61,14 +61,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getReadBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data()));");
- return ResolveOptionalReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
index dfe9fe835..cb0dcfdbb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
BoolSerializer::BoolSerializer(const typenavigator::BoolNavigatorPtr& e) :
- Serializer("bool", simox::meta::get_type_name(typeid(data::AronBool)), simox::meta::get_type_name(typeid(type::AronBool))),
- detail::SerializerBase<typenavigator::BoolNavigator, BoolSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::BoolNavigator, BoolSerializer>("bool", simox::meta::get_type_name(typeid(data::AronBool)), simox::meta::get_type_name(typeid(type::AronBool)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
index 04605d022..aa1b6deb2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
DoubleSerializer::DoubleSerializer(const typenavigator::DoubleNavigatorPtr& e) :
- Serializer("double", simox::meta::get_type_name(typeid(data::AronDouble)), simox::meta::get_type_name(typeid(type::AronDouble))),
- detail::SerializerBase<typenavigator::DoubleNavigator, DoubleSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::DoubleNavigator, DoubleSerializer>("double", simox::meta::get_type_name(typeid(data::AronDouble)), simox::meta::get_type_name(typeid(type::AronDouble)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
index 4092ae79f..b48272103 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
FloatSerializer::FloatSerializer(const typenavigator::FloatNavigatorPtr& e) :
- Serializer("float", simox::meta::get_type_name(typeid(data::AronFloat)), simox::meta::get_type_name(typeid(type::AronFloat))),
- detail::SerializerBase<typenavigator::FloatNavigator, FloatSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::FloatNavigator, FloatSerializer>("float", simox::meta::get_type_name(typeid(data::AronFloat)), simox::meta::get_type_name(typeid(type::AronFloat)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
index fb1f6a3df..fb460dffb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
IntSerializer::IntSerializer(const typenavigator::IntNavigatorPtr& e) :
- Serializer("int", simox::meta::get_type_name(typeid(data::AronInt)), simox::meta::get_type_name(typeid(type::AronInt))),
- detail::SerializerBase<typenavigator::IntNavigator, IntSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::IntNavigator, IntSerializer>("int", simox::meta::get_type_name(typeid(data::AronInt)), simox::meta::get_type_name(typeid(type::AronInt)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
index 9fe388f6e..90f03a5f5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
LongSerializer::LongSerializer(const typenavigator::LongNavigatorPtr& e) :
- Serializer("long", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronLong))),
- detail::SerializerBase<typenavigator::LongNavigator, LongSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::LongNavigator, LongSerializer>("long", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronLong)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
index 7bb6311bd..5d0d0948e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
@@ -30,19 +30,19 @@
#include "../detail/PrimitiveSerializerBase.h"
// ArmarX
-#include "../../../../../navigator/type/primitive/Int.h"
+#include "../../../../../navigator/type/primitive/Long.h"
namespace armarx::aron::cppserializer::serializer
{
- class IntSerializer;
- typedef std::shared_ptr<IntSerializer> IntSerializerPtr;
+ class LongSerializer;
+ typedef std::shared_ptr<LongSerializer> LongSerializerPtr;
- class IntSerializer :
- virtual public detail::PrimitiveSerializerBase<typenavigator::IntNavigator, IntSerializer>
+ class LongSerializer :
+ virtual public detail::PrimitiveSerializerBase<typenavigator::LongNavigator, LongSerializer>
{
public:
/* constructors */
- IntSerializer(const typenavigator::IntNavigatorPtr& e);
+ LongSerializer(const typenavigator::LongNavigatorPtr& e);
/* virtual implementations */
virtual CppBlockPtr getWriteTypeBlock(const std::string& accessor) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
index 6d8284087..f815628ff 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
StringSerializer::StringSerializer(const typenavigator::StringNavigatorPtr& e) :
- Serializer("std::string", simox::meta::get_type_name(typeid(data::AronString)), simox::meta::get_type_name(typeid(type::AronString))),
- detail::SerializerBase<typenavigator::StringNavigator, StringSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::StringNavigator, StringSerializer>("std::string", simox::meta::get_type_name(typeid(data::AronString)), simox::meta::get_type_name(typeid(type::AronString)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
index 7bb6311bd..d6bc43272 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
@@ -30,19 +30,19 @@
#include "../detail/PrimitiveSerializerBase.h"
// ArmarX
-#include "../../../../../navigator/type/primitive/Int.h"
+#include "../../../../../navigator/type/primitive/String.h"
namespace armarx::aron::cppserializer::serializer
{
- class IntSerializer;
- typedef std::shared_ptr<IntSerializer> IntSerializerPtr;
+ class StringSerializer;
+ typedef std::shared_ptr<StringSerializer> StringSerializerPtr;
- class IntSerializer :
- virtual public detail::PrimitiveSerializerBase<typenavigator::IntNavigator, IntSerializer>
+ class StringSerializer :
+ virtual public detail::PrimitiveSerializerBase<typenavigator::StringNavigator, StringSerializer>
{
public:
/* constructors */
- IntSerializer(const typenavigator::IntNavigatorPtr& e);
+ StringSerializer(const typenavigator::StringNavigatorPtr& e);
/* virtual implementations */
virtual CppBlockPtr getWriteTypeBlock(const std::string& accessor) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
index ec8d94b14..39e5c6717 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
@@ -33,9 +33,9 @@ namespace armarx::aron::cppserializer::serializer
{
/* constructors */
TimeSerializer::TimeSerializer(const typenavigator::TimeNavigatorPtr& e) :
- Serializer("Time", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronTime))),
- detail::SerializerBase<typenavigator::TimeNavigator, TimeSerializer>(e)
+ detail::PrimitiveSerializerBase<typenavigator::TimeNavigator, TimeSerializer>("IceUtil::Time", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronTime)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
}
/* virtual implementations */
@@ -45,4 +45,25 @@ namespace armarx::aron::cppserializer::serializer
b->addLine("w.writeTime({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
return b;
}
+
+ CppBlockPtr TimeSerializer::getWriteBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
+ block_if_data->addLine("w.writePrimitive(" + resolved_accessor + nextEl() + "toMicroSeconds());");
+
+ return this->ResolveMaybeWriteBlock(accessor, block_if_data, this->typenavigator);
+ }
+
+ CppBlockPtr TimeSerializer::getReadBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ std::string escaped_accessor = this->EscapeAccessor(accessor);
+ std::string resolved_accessor = this->ResolveMaybeAccessor(accessor, this->typenavigator);
+ block_if_data->addLine("long " + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ";");
+ block_if_data->addLine("r.readEndPrimitive(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ");");
+ block_if_data->addLine(accessor + nextEl() + "microSeconds(" + escaped_accessor + TIME_SETTER_ACCESSOR_SUFFIX + ");");
+ return this->ResolveMaybeReadBlock(accessor, "r.readStartPrimitive()", block_if_data, this->typenavigator);
+ }
+
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
index 6a0b1929b..ff06aff3e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
@@ -46,5 +46,10 @@ namespace armarx::aron::cppserializer::serializer
/* virtual implementations */
virtual CppBlockPtr getWriteTypeBlock(const std::string& accessor) const override;
+ virtual CppBlockPtr getWriteBlock(const std::string& accessor) const override;
+ virtual CppBlockPtr getReadBlock(const std::string& accessor) const override;
+
+ private:
+ static const constexpr char* TIME_SETTER_ACCESSOR_SUFFIX = "__time_setter";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index a1922e0b3..6f1fa5a13 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -28,12 +28,12 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
IntEnumClassSerializer::IntEnumClassSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
- Serializer(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum))),
- detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumClassSerializer>(n)
+ detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumClassSerializer>(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum)), n)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
if (typenavigator->getMaybe() != type::Maybe::eNone)
{
- throw error::AronException("IntEnumClassSerializer", "IntEnumClassSerializer", "Somehow the optional flag of a top level int enum declaration is set. This is not valid!");
+ throw error::MaybeNotValidException("IntEnumClassSerializer", "IntEnumClassSerializer", "Somehow the maybe flag of a top level int enum declaration is set. This is not valid!", typenavigator->getMaybe(), typenavigator->getPath());
}
}
@@ -93,7 +93,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr IntEnumClassSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "});");
+ b->addLine("w.writeInt({__aronMaybeType});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
index 96a933957..8bc3ce9e2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -48,7 +48,6 @@ namespace armarx::aron::cppserializer::serializer
// virtual implementations
std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
- virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
index 2884e62a9..f4d2f4fe9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -29,12 +29,12 @@ namespace armarx::aron::cppserializer::serializer
{
// constructors
ObjectClassSerializer::ObjectClassSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- Serializer(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject))),
- detail::SerializerBase<typenavigator::ObjectNavigator, ObjectClassSerializer>(e)
+ detail::SerializerBase<typenavigator::ObjectNavigator, ObjectClassSerializer>(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject)), e)
{
+ ARMARX_CHECK_NOT_NULL(typenavigator);
if (typenavigator->getMaybe() != type::Maybe::eNone)
{
- throw error::AronException("ObjectClassSerializer", "ObjectClassSerializer", "Somehow the optional flag of a top level object declaration is set. This is not valid!");
+ throw error::MaybeNotValidException("ObjectClassSerializer", "ObjectClassSerializer", "Somehow the maybe flag of a top level object declaration is set. This is not valid!", typenavigator->getMaybe(), typenavigator->getPath());
}
}
@@ -106,7 +106,7 @@ namespace armarx::aron::cppserializer::serializer
b->addLine(extends_s->getFullCppTypename() + "::writeType(w);");
}
- b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", type_is_optional});");
+ b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", __aronMaybeType});");
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -114,6 +114,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr b2 = child_s->getWriteTypeBlock(child_s->getCoreCppTypename());
b->appendBlock(b2);
}
+
b->addLine("w.writeEndObject();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.cpp
index 8b1378917..9a2b8a18a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.cpp
@@ -1 +1,24 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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 Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include "Data.h"
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
index b0aee6f1e..f4c1f26e2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -32,10 +32,7 @@
#include <RobotAPI/libraries/aron/core/Concepts.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/container/List.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
namespace armarx::aron::xmltypereader
@@ -52,6 +49,7 @@ namespace armarx::aron::xmltypereader
static constexpr const char* CODE_INCLUDES_TAG = "codeincludes";
static constexpr const char* INCLUDES_TAG = "aronincludes";
static constexpr const char* GENERATE_TYPES_TAG = "generatetypes";
+ static constexpr const char* AUTO_CODE_INCLUDE = "autoinclude";
static constexpr const char* INCLUDE_TAG = "include";
static constexpr const char* GENERATE_OBJECT_TAG = "object";
@@ -76,6 +74,9 @@ namespace armarx::aron::xmltypereader
static constexpr const char* COLS_ATTRIBUTE_NAME = "cols";
static constexpr const char* DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
static constexpr const char* OPTIONAL_NAME = "optional";
+ static constexpr const char* RAW_PTR_NAME = "rawptr";
+ static constexpr const char* SHARED_PTR_NAME = "sharedptr";
+ static constexpr const char* UNIQUE_PTR_NAME = "uniqueptr";
// Second level tags. Only important if in specific top level tag
static constexpr const char* OBJECT_CHILD_TAG = "objectchild";
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
index bc2cc0b58..944f755f4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
@@ -129,7 +129,7 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> includes = children[cpp_includes_index].nodes();
for (const auto& include : includes)
{
- this->codeIncludes.push_back(readCppInclude(include));
+ this->codeIncludes.push_back(readCodeInclude(include));
}
}
@@ -169,7 +169,7 @@ namespace armarx::aron::xmltypereader
}
}
- std::string Reader::readCppInclude(const RapidXmlReaderNode& node) const
+ std::string Reader::readCodeInclude(const RapidXmlReaderNode& node)
{
Data::EnforceTagName(node, Data::INCLUDE_TAG);
Data::EnforceAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
@@ -177,16 +177,21 @@ namespace armarx::aron::xmltypereader
return include;
}
- std::string Reader::readAronInclude(const RapidXmlReaderNode& node) const
+ std::string Reader::readAronInclude(const RapidXmlReaderNode& node)
{
Data::EnforceTagName(node, Data::INCLUDE_TAG);
-
const std::string xmlinclude = Data::GetAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
// parse parent xml file and add objects to alreday known
Reader anotherReader;
anotherReader.parseFile(xmlinclude);
+ if (Data::HasAttribute(node, Data::AUTO_CODE_INCLUDE))
+ {
+ std::string codeinclude = simox::alg::replace_last(xmlinclude, ".xml", ".aron.generated.h");
+ this->codeIncludes.push_back(codeinclude);
+ }
+
return xmlinclude;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
index e19083a9a..387b2888d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
@@ -56,8 +56,8 @@ namespace armarx::aron::xmltypereader
private:
void parse(const RapidXmlReaderPtr& node);
- std::string readCppInclude(const RapidXmlReaderNode& node) const;
- std::string readAronInclude(const RapidXmlReaderNode& node) const;
+ std::string readCodeInclude(const RapidXmlReaderNode& node);
+ std::string readAronInclude(const RapidXmlReaderNode& node);
typenavigator::ObjectNavigatorPtr readGenerateObject(const RapidXmlReaderNode& node) const;
typenavigator::IntEnumNavigatorPtr readGenerateIntEnum(const RapidXmlReaderNode& node) const;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index fb6ef9bae..2a7310d54 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -78,19 +78,40 @@ namespace armarx::aron::xmltypereader
if (public_intenum_it != AllPublicIntEnums.end())
{
// copy the navigator
- return typenavigator::Navigator::FromAronType(public_intenum_it->second->correspondingType->getResult());
+ return typenavigator::Navigator::FromAronType(public_intenum_it->second->correspondingType->toAronTypePtr());
}
const auto public_obj_it = AllPublicObjects.find(name);
if (public_obj_it != AllPublicObjects.end())
{
// copy the navigator
- return typenavigator::Navigator::FromAronType(public_obj_it->second->correspondingType->getResult());
+ return typenavigator::Navigator::FromAronType(public_obj_it->second->correspondingType->toAronTypePtr());
}
throw error::StringNotValidException("XMLReaderFactory", "ResolveTypename", "Could not find a tag. You can only access already finished public objects.", name);
}
+ type::Maybe ReaderFactory::GetMaybe(const RapidXmlReaderNode& n)
+ {
+ if (Data::AttributeIsTrue(n, Data::OPTIONAL_NAME))
+ {
+ return type::Maybe::eOptional;
+ }
+ if (Data::AttributeIsTrue(n, Data::RAW_PTR_NAME))
+ {
+ return type::Maybe::eRawPointer;
+ }
+ if (Data::AttributeIsTrue(n, Data::SHARED_PTR_NAME))
+ {
+ return type::Maybe::eSharedPointer;
+ }
+ if (Data::AttributeIsTrue(n, Data::UNIQUE_PTR_NAME))
+ {
+ return type::Maybe::eUniquePointer;
+ }
+ return type::Maybe::eNone;
+ }
+
// Object type
typenavigator::NavigatorPtr ObjectReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
@@ -132,10 +153,10 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
- bool isOptional = Data::AttributeIsTrue(children[0], Data::OPTIONAL_NAME);
+ auto maybe = GetMaybe(children[0]);
typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
- childNavigator->setOptional(isOptional);
+ childNavigator->setMaybe(maybe);
aronObjectType->addMemberType(key, childNavigator);
}
ObjectGenerationStack.pop();
@@ -153,6 +174,7 @@ namespace armarx::aron::xmltypereader
aronObjectType = typenavigator::ObjectNavigator::DynamicCastAndCheck(ResolveTypename(simox::alg::to_lower(newObject->typeName))); // make a copy
}
+ ARMARX_CHECK_NOT_NULL(aronObjectType);
return aronObjectType;
}
@@ -165,9 +187,9 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> listTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
- bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ auto maybe = GetMaybe(typeNode);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- type->setOptional(isOptional);
+ type->setMaybe(maybe);
list->setAcceptedType(type);
return list;
@@ -182,9 +204,9 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> dictTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
- bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ auto maybe = GetMaybe(typeNode);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- type->setOptional(isOptional);
+ type->setMaybe(maybe);
dict->setAcceptedType(type);
return dict;
@@ -209,10 +231,10 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = typeNodeChildren[0];
- bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ auto maybe = GetMaybe(typeNode);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "<" + std::to_string(i++) + ">"));
- type->setOptional(isOptional);
+ type->setMaybe(maybe);
tuple->addAcceptedType(type);
}
@@ -236,20 +258,20 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> type1NodeChildren = nodeChildren[0].nodes();
const RapidXmlReaderNode type1Node = type1NodeChildren[0];
- bool isOptional1 = Data::AttributeIsTrue(type1Node, Data::OPTIONAL_NAME);
+ auto maybe1 = GetMaybe(type1Node);
typenavigator::NavigatorPtr type1 = create(type1Node, Path(path, std::to_string(0)));
- type1->setOptional(isOptional1);
+ type1->setMaybe(maybe1);
pair->setFirstAcceptedType(type1);
Data::EnforceChildSize(nodeChildren[1], 1);
std::vector<RapidXmlReaderNode> type2NodeChildren = nodeChildren[1].nodes();
const RapidXmlReaderNode type2Node = type2NodeChildren[0];
- bool isOptional2 = Data::AttributeIsTrue(type2Node, Data::OPTIONAL_NAME);
+ auto maybe2 = GetMaybe(type2Node);
typenavigator::NavigatorPtr type2 = create(type2Node, Path(path, std::to_string(1)));
- type2->setOptional(isOptional2);
+ type2->setMaybe(maybe2);
pair->setSecondAcceptedType(type2);
return pair;
@@ -265,12 +287,6 @@ namespace armarx::aron::xmltypereader
typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_MEMBER_TAG);
- //Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- //int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- //int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
- //std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
-
typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
return complex;
}
@@ -309,15 +325,8 @@ namespace armarx::aron::xmltypereader
typenavigator::NavigatorPtr OpenCVMatReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
Data::EnforceTagName(node, Data::GENERATE_OPENCV_MAT_MEMBER_TAG);
- //Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- //std::vector<std::string> dimensions_as_strings = simox::alg::split(Data::GetAttributeWithDefault(node, Data::DIMENSIONS_ATTRIBUTE_NAME, "1"), ",");
- //std::vector<int> dimensions = simox::alg::to_vec<int>(dimensions_as_strings);
- //std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
typenavigator::OpenCVMatNavigatorPtr complex(new typenavigator::OpenCVMatNavigator(path));
- //complex->setDimensions(dimensions);
- //complex->setTypename(type);
return complex;
}
@@ -326,14 +335,9 @@ namespace armarx::aron::xmltypereader
{
Data::EnforceTagName(node, Data::GENERATE_PCL_POINTCLOUD_MEMBER_TAG);
Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
-
- //int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- //int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
typenavigator::PCLPointCloudNavigatorPtr complex(new typenavigator::PCLPointCloudNavigator(path));
- //complex->setWidth(width);
- //complex->setHeight(height);
complex->setTypename(type);
return complex;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
index 88e7ad01d..f94ed41ec 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.h
@@ -55,6 +55,7 @@ namespace armarx::aron::xmltypereader
protected:
static typenavigator::NavigatorPtr ResolveTypename(const std::string&);
+ static type::Maybe GetMaybe(const RapidXmlReaderNode&);
public:
static std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr> AllPublicObjects;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
index fe1f4eb36..f5df053b9 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
@@ -35,7 +35,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eObject:
{
const auto readStartObject = reader.readStartObject();
- writer.writeStartObject({readStartObject.name, readStartObject.isOptional});
+ writer.writeStartObject({readStartObject.name, readStartObject.maybe});
for (unsigned int i = 0; i < readStartObject.elements; ++i)
{
@@ -51,7 +51,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eDict:
{
const auto readStartDict = reader.readStartDict();
- writer.writeStartDict({readStartDict.isOptional});
+ writer.writeStartDict({readStartDict.maybe});
Converter::ReadAndConvert(reader, writer);
@@ -62,7 +62,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eTuple:
{
const auto readStartTuple = reader.readStartTuple();
- writer.writeStartTuple({readStartTuple.isOptional});
+ writer.writeStartTuple({readStartTuple.maybe});
for (unsigned int i = 0; i < readStartTuple.elements; ++i)
{
@@ -76,7 +76,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eList:
{
const auto readStartList = reader.readStartList();
- writer.writeStartList({readStartList.isOptional});
+ writer.writeStartList({readStartList.maybe});
Converter::ReadAndConvert(reader, writer);
@@ -87,91 +87,91 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
const auto readEigenMatrix = reader.readEigenMatrix();
- writer.writeEigenMatrix({readEigenMatrix.rows, readEigenMatrix.cols, readEigenMatrix.type, readEigenMatrix.isOptional});
+ writer.writeEigenMatrix({readEigenMatrix.rows, readEigenMatrix.cols, readEigenMatrix.type, readEigenMatrix.maybe});
break;
}
case type::Descriptor::eEigenQuaternion:
{
const auto readEigenQuaternion = reader.readEigenQuaternion();
- writer.writeEigenQuaternion({readEigenQuaternion.type, readEigenQuaternion.isOptional});
+ writer.writeEigenQuaternion({readEigenQuaternion.type, readEigenQuaternion.maybe});
break;
}
case type::Descriptor::eIVTCByteImage:
{
const auto readIVTCByteImage = reader.readIVTCByteImage();
- writer.writeIVTCByteImage({readIVTCByteImage.isOptional});
+ writer.writeIVTCByteImage({readIVTCByteImage.maybe});
break;
}
case type::Descriptor::eOpenCVMat:
{
const auto readOpenCVMat = reader.readOpenCVMat();
- writer.writeOpenCVMat({readOpenCVMat.isOptional});
+ writer.writeOpenCVMat({readOpenCVMat.maybe});
break;
}
case type::Descriptor::ePCLPointCloud:
{
const auto readPCLPointCloud = reader.readPCLPointCloud();
- writer.writePCLPointCloud({readPCLPointCloud.type, readPCLPointCloud.isOptional});
+ writer.writePCLPointCloud({readPCLPointCloud.type, readPCLPointCloud.maybe});
break;
}
case type::Descriptor::ePosition:
{
const auto readPosition = reader.readPosition();
- writer.writePosition({readPosition.isOptional});
+ writer.writePosition({readPosition.maybe});
break;
}
case type::Descriptor::eOrientation:
{
const auto readOrientation = reader.readOrientation();
- writer.writeOrientation({readOrientation.isOptional});
+ writer.writeOrientation({readOrientation.maybe});
break;
}
case type::Descriptor::ePose:
{
const auto readPose = reader.readPose();
- writer.writePose({readPose.isOptional});
+ writer.writePose({readPose.maybe});
break;
}
case type::Descriptor::eInt:
{
const auto readInt = reader.readInt();
- writer.writeInt({readInt.isOptional});
+ writer.writeInt({readInt.maybe});
break;
}
case type::Descriptor::eLong:
{
const auto readLong = reader.readLong();
- writer.writeLong({readLong.isOptional});
+ writer.writeLong({readLong.maybe});
break;
}
case type::Descriptor::eFloat:
{
const auto readFloat = reader.readFloat();
- writer.writeFloat({readFloat.isOptional});
+ writer.writeFloat({readFloat.maybe});
break;
}
case type::Descriptor::eDouble:
{
const auto readDouble = reader.readDouble();
- writer.writeDouble({readDouble.isOptional});
+ writer.writeDouble({readDouble.maybe});
break;
}
case type::Descriptor::eString:
{
const auto readString = reader.readString();
- writer.writeString({readString.isOptional});
+ writer.writeString({readString.maybe});
break;
}
case type::Descriptor::eBool:
{
const auto readBool = reader.readBool();
- writer.writeBool({readBool.isOptional});
+ writer.writeBool({readBool.maybe});
break;
}
case type::Descriptor::eTime:
{
const auto readTime = reader.readTime();
- writer.writeTime({readTime.isOptional});
+ writer.writeTime({readTime.maybe});
break;
}
default:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
index 655bba4e0..0e87ee0e4 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
@@ -49,7 +49,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eObject:
{
auto casted = type::AronObjectPtr::dynamicCast(aron);
- writer.writeStartObject({casted->objectName, casted->isOptional});
+ writer.writeStartObject({casted->objectName, casted->maybe});
for (const auto& [key, value] : casted->elementTypes)
{
writer.writeKey(key);
@@ -61,7 +61,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eDict:
{
auto casted = type::AronDictPtr::dynamicCast(aron);
- writer.writeStartDict({casted->isOptional});
+ writer.writeStartDict({casted->maybe});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndDict();
break;
@@ -69,7 +69,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eTuple:
{
auto casted = type::AronTuplePtr::dynamicCast(aron);
- writer.writeStartTuple({casted->isOptional});
+ writer.writeStartTuple({casted->maybe});
for (const auto& value : casted->elementTypes)
{
Visitor::VisitAndSetup(writer, value);
@@ -80,7 +80,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eList:
{
auto casted = type::AronListPtr::dynamicCast(aron);
- writer.writeStartList({casted->isOptional});
+ writer.writeStartList({casted->maybe});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndList();
break;
@@ -88,96 +88,96 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
auto casted = type::AronEigenMatrixPtr::dynamicCast(aron);
- writer.writeEigenMatrix({(unsigned int) casted->rows, (unsigned int) casted->cols, casted->typeName, casted->isOptional});
+ writer.writeEigenMatrix({(unsigned int) casted->rows, (unsigned int) casted->cols, casted->typeName, casted->maybe});
break;
}
case type::Descriptor::eEigenQuaternion:
{
auto casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
- writer.writeEigenQuaternion({casted->typeName, casted->isOptional});
+ writer.writeEigenQuaternion({casted->typeName, casted->maybe});
break;
}
case type::Descriptor::eIVTCByteImage:
{
auto casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
- writer.writeIVTCByteImage({casted->isOptional});
+ writer.writeIVTCByteImage({casted->maybe});
break;
}
case type::Descriptor::eOpenCVMat:
{
auto casted = type::AronOpenCVMatPtr::dynamicCast(aron);
- writer.writeOpenCVMat({casted->isOptional});
+ writer.writeOpenCVMat({casted->maybe});
break;
}
case type::Descriptor::ePCLPointCloud:
{
auto casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
- writer.writePCLPointCloud({casted->typeName, casted->isOptional});
+ writer.writePCLPointCloud({casted->typeName, casted->maybe});
break;
}
case type::Descriptor::ePosition:
{
auto casted = type::AronPositionPtr::dynamicCast(aron);
- writer.writePosition({casted->isOptional});
+ writer.writePosition({casted->maybe});
break;
}
case type::Descriptor::eOrientation:
{
auto casted = type::AronOrientationPtr::dynamicCast(aron);
- writer.writeOrientation({casted->isOptional});
+ writer.writeOrientation({casted->maybe});
break;
}
case type::Descriptor::ePose:
{
auto casted = type::AronPosePtr::dynamicCast(aron);
- writer.writePose({casted->isOptional});
+ writer.writePose({casted->maybe});
break;
}
case type::Descriptor::eInt:
{
auto casted = type::AronIntPtr::dynamicCast(aron);
- writer.writeInt({casted->isOptional});
+ writer.writeInt({casted->maybe});
break;
}
case type::Descriptor::eLong:
{
auto casted = type::AronLongPtr::dynamicCast(aron);
- writer.writeLong({casted->isOptional});
+ writer.writeLong({casted->maybe});
break;
}
case type::Descriptor::eFloat:
{
auto casted = type::AronFloatPtr::dynamicCast(aron);
- writer.writeFloat({casted->isOptional});
+ writer.writeFloat({casted->maybe});
break;
}
case type::Descriptor::eDouble:
{
auto casted = type::AronDoublePtr::dynamicCast(aron);
- writer.writeDouble({casted->isOptional});
+ writer.writeDouble({casted->maybe});
break;
}
case type::Descriptor::eString:
{
auto casted = type::AronStringPtr::dynamicCast(aron);
- writer.writeString({casted->isOptional});
+ writer.writeString({casted->maybe});
break;
}
case type::Descriptor::eBool:
{
auto casted = type::AronBoolPtr::dynamicCast(aron);
- writer.writeBool({casted->isOptional});
+ writer.writeBool({casted->maybe});
break;
}
case type::Descriptor::eTime:
{
auto casted = type::AronTimePtr::dynamicCast(aron);
- writer.writeTime({casted->isOptional});
+ writer.writeTime({casted->maybe});
break;
}
default:
{
- throw error::DescriptorNotValidException("Visitor", "SetupWriterFromAronTypePtr", "Type-Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
+ throw error::DescriptorNotValidException("Visitor", "VisitAndSetup", "Type could not be resolved. The ice_id of the input was: " + aron->ice_id(), desc);
}
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/primitive/String.h b/source/RobotAPI/libraries/aron/core/navigator/data/primitive/String.h
index dbe79c3c9..cbf828629 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/primitive/String.h
@@ -57,9 +57,6 @@ namespace armarx::aron::datanavigator
static data::AronStringPtr ToAronStringPtr(const StringNavigatorPtr& navigator);
/* public member functions */
- void setValue(const std::string& x);
- std::string getValue() const;
-
data::AronStringPtr toAronStringPtr() const;
/* virtual implementations */
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
index 5abc5d5a1..cd1dfccc4 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
@@ -7,11 +7,11 @@
<Object name='armarx::IVTCByteImageTest'>
<ObjectChild key='the_grayscale_image'>
- <IVTCByteImage width="25" height="25" type="GrayScale" />
+ <IVTCByteImage width="25" height="25" type="GrayScale" sharedptr="ja" />
</ObjectChild>
<ObjectChild key='the_rgb_image'>
- <IVTCByteImage width="1920" height="1080" type="RGB24" />
+ <IVTCByteImage width="1920" height="1080" type="RGB24" sharedptr="ja" />
</ObjectChild>
</Object>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
index 48cc19e61..7b402cb38 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
@@ -43,7 +43,7 @@
</List>
</ObjectChild>
- <ObjectChild key='some_obj'>
+ <ObjectChild key='some_eigen_matrix'>
<EigenMatrix rows="25" cols="10" type="long" optional="ja"/>
</ObjectChild>
--
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