From c89d3e9033b4c8af367bcd64d0c57c250166cbff Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Fri, 15 Jan 2021 15:29:01 +0100
Subject: [PATCH] Aron returns specific navigators improved aron test suite
---
data/RobotAPI/ArMemStorage/README | 1 +
source/RobotAPI/interface/aron/Aron.ice | 32 +-
.../libraries/armem/ltm/LongTermMemoryLUT.cpp | 98 +++-
.../libraries/armem/ltm/LongTermMemoryLUT.h | 18 +-
.../armem/ltm/io/DiskWriter/DiskWriter.h | 111 ++++-
.../libraries/armem/memory/EntityInstance.h | 2 +-
.../RobotAPI/libraries/armem/memory/Memory.h | 1 -
.../libraries/armem/test/ArMemLTMTest.cpp | 2 +
.../libraries/aron/aroncore/AronConfig.h | 8 +
.../libraries/aron/aroncore/AronFactory.h | 12 +-
.../codeWriters/cppWriter/AronCppWriter.cpp | 31 +-
.../typeSerializers/AronTypeCppSerializer.cpp | 20 +-
.../typeSerializers/AronTypeCppSerializer.h | 10 +-
.../classReaders/AronDataClassReaderToken.h | 18 +-
.../AronDataNavigatorReader.cpp | 19 +-
.../NavigatorReader/AronDataNavigatorReader.h | 6 +-
.../AronDataNavigatorReaderToken.h | 8 +-
.../AronDataNlohmannJSONReaderToken.h | 6 +-
.../classWriters/AronDataClassWriterToken.h | 16 +-
.../AronDataNavigatorWriter.cpp | 2 +-
.../NavigatorWriter/AronDataNavigatorWriter.h | 2 +-
.../AronDataNavigatorWriterToken.h | 8 +-
.../AronDataNlohmannJSONWriterToken.h | 6 +-
.../AronDataRapidXMLWriterToken.h | 6 +-
.../aron/aroncore/io/AronReaderToken.h | 10 +-
.../classWriters/AronTypeClassWriterToken.h | 16 +-
.../AronTypeNavigatorWriter.cpp | 2 +-
.../AronTypeNavigatorWriterToken.h | 8 +-
.../AronTypeNlohmannJSONWriter.cpp | 80 ++--
.../AronTypeNlohmannJSONWriter.h | 2 +-
.../AronTypeNlohmannJSONWriterToken.h | 26 +-
.../AronTypeRapidXMLWriterToken.h | 14 +-
.../aron/aroncore/io/AronWriterToken.h | 10 +-
.../datanavigator/AronDataNavigator.h | 24 +-
.../datanavigator/AronDictDataNavigator.cpp | 42 +-
.../datanavigator/AronDictDataNavigator.h | 6 +
.../datanavigator/AronListDataNavigator.cpp | 42 +-
.../datanavigator/AronListDataNavigator.h | 6 +
.../AronNDArrayDataNavigator.cpp | 26 +-
.../datanavigator/AronNDArrayDataNavigator.h | 3 +
.../AronPrimitiveDataNavigator.cpp | 24 +-
.../AronPrimitiveDataNavigator.h | 3 +
.../typenavigator/AronDictTypeNavigator.cpp | 2 -
.../typenavigator/AronDictTypeNavigator.h | 2 +
.../AronEigenMatrixTypeNavigator.cpp | 39 +-
.../AronEigenMatrixTypeNavigator.h | 2 +
.../AronIVTCByteImageTypeNavigator.cpp | 39 +-
.../AronIVTCByteImageTypeNavigator.h | 2 +
.../typenavigator/AronListTypeNavigator.cpp | 49 +-
.../typenavigator/AronListTypeNavigator.h | 2 +
.../typenavigator/AronObjectTypeNavigator.cpp | 13 +-
.../typenavigator/AronObjectTypeNavigator.h | 2 +
.../AronOpenCVMatTypeNavigator.cpp | 39 +-
.../AronOpenCVMatTypeNavigator.h | 2 +
.../AronPCLPointCloudTypeNavigator.cpp | 39 +-
.../AronPCLPointCloudTypeNavigator.h | 2 +
.../AronPrimitiveTypeNavigator.cpp | 7 +-
.../AronPrimitiveTypeNavigator.h | 4 +-
.../typenavigator/AronTupleTypeNavigator.cpp | 17 +-
.../typenavigator/AronTupleTypeNavigator.h | 2 +
.../typenavigator/AronTypeNavigator.h | 78 ++-
.../test/aronDataWithoutCodeGeneration.h | 30 +-
.../libraries/aron/aroncore/test/aronTest.cpp | 450 ++++++++----------
63 files changed, 963 insertions(+), 646 deletions(-)
create mode 100644 data/RobotAPI/ArMemStorage/README
diff --git a/data/RobotAPI/ArMemStorage/README b/data/RobotAPI/ArMemStorage/README
new file mode 100644
index 000000000..342a90d8a
--- /dev/null
+++ b/data/RobotAPI/ArMemStorage/README
@@ -0,0 +1 @@
+This is the default folder where ArMem stores episodes
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index bf5e0bd97..3c0cd5a7b 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -73,9 +73,11 @@ module armarx
dictionary<string, AronType> AronTypeDict;
// Container Types (serialize to object/list)
+ class AronContainerType extends AronType {};
+
// Please note that either elementTypes xor acceptedType is set!!!
- class AronDictSerializerType extends AronType { AronTypeDict elementTypes; AronType acceptedType;};
- class AronListSerializerType extends AronType { AronTypeList elementTypes; AronType acceptedType;};
+ class AronDictSerializerType extends AronContainerType { AronTypeDict elementTypes; AronType acceptedType;};
+ class AronListSerializerType extends AronContainerType { AronTypeList elementTypes; AronType acceptedType;};
class AronListType extends AronListSerializerType { };
class AronTupleType extends AronListSerializerType { };
@@ -84,7 +86,8 @@ module armarx
class AronDictType extends AronDictSerializerType { };
// Complex Types (serialize to ndarray)
- class AronNDArraySerializerType extends AronType { AronIntSequence dimensions; string typeName; };
+ class AronComplexType extends AronType {};
+ class AronNDArraySerializerType extends AronComplexType { AronIntSequence dimensions; string typeName; };
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
class Aron##upperType##Type extends AronNDArraySerializerType { };
@@ -92,8 +95,9 @@ module armarx
#undef RUN_ARON_MACRO
// Primitive Types
+ class AronPrimitiveType extends AronType {};
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- class Aron##upperType##Type extends AronType { };
+ class Aron##upperType##Type extends AronPrimitiveType { };
HANDLE_PRIMITIVE_TYPES
#undef RUN_ARON_MACRO
@@ -110,15 +114,18 @@ module armarx
dictionary<string, AronData> AronDataDict;
// Container Data
- class AronList extends AronData { AronDataList elements; };
- class AronDict extends AronData { AronDataDict elements; };
+ class AronContainer extends AronData {};
+ class AronList extends AronContainer { AronDataList elements; };
+ class AronDict extends AronContainer { AronDataDict elements; };
// Complex Data. The NDArray contains the same information as an AronType, but there is no other way to do it
- class AronNDArray extends AronData { AronIntSequence dimensions; string type; AronByteSequence data; };
+ class AronComplex extends AronData {};
+ class AronNDArray extends AronComplex { AronIntSequence dimensions; string type; AronByteSequence data; };
// Basic Data
+ class AronPrimitive extends AronData {};
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- class Aron##upperType extends AronData { lowerType value; };
+ class Aron##upperType extends AronPrimitive { lowerType value; };
HANDLE_PRIMITIVE_TYPES
#undef RUN_ARON_MACRO
@@ -126,3 +133,12 @@ module armarx
};
};
+
+#undef HANDLE_ALL_ARON_TYPES
+#undef HANDLE_PRIMITIVE_TYPES
+#undef HANDLE_COMPLEX_TYPES
+#undef HANDLE_CONTAINER_TYPES
+
+#undef HANDLE_ALL_ARON_DATA
+#undef HANDLE_COMPLEX_DATA
+#undef HANDLE_CONTAINER_DATA
diff --git a/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.cpp b/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.cpp
index ed3ff0309..e3ade250a 100644
--- a/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.cpp
+++ b/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.cpp
@@ -13,12 +13,102 @@ namespace armarx::armem::ltm
}
- bool LongTermMemoryLUT::writeOnDisk(const MemoryPtr& m)
+ void LongTermMemoryLUT::writeOnDisk(const MemoryPtr& m)
{
- return writer->writeOnDisk(m);
+ io::DiskWriterReturnInformation info = writer->writeOnDisk(m);
+ updateLUT(info.storedElements);
}
- bool LongTermMemoryLUT::writeOnDisk(const std::map<std::string, CoreSegmentPtr>& m)
+ void LongTermMemoryLUT::writeOnDisk(const std::map<std::string, CoreSegmentPtr>& m)
{
- return writer->writeOnDisk(m);
+ io::DiskWriterReturnInformation info = writer->writeOnDisk(m);
+ updateLUT(info.storedElements);
+ }
+
+ void LongTermMemoryLUT::loadFromDisk()
+ {
+
+ }
+
+ std::string LongTermMemoryLUT::getLUTasString()
+ {
+ std::stringstream ss;
+ for (const auto& [coreKey, coreSegment] : lut)
+ {
+ ss << coreKey << ": " << std::endl;
+ for (const auto& [providerKey, providerSegment] : coreSegment)
+ {
+ ss << "\t" << providerKey << ": " << std::endl;
+ for (const auto& [entityKey, entity] : providerSegment)
+ {
+ ss << "\t\t" << entityKey << ": " << std::endl;
+ for (const auto& [entityHistoryTimestamp, entitySnapshot] : entity)
+ {
+ ss << "\t\t\t" << entityHistoryTimestamp.toMilliSeconds() << ":" << std::endl;
+ ss << "\t\t\t\t" << "[";
+ for (unsigned int i = 0; i < entitySnapshot.size(); ++i)
+ {
+ const std::string& newlyGenerate = entitySnapshot[i];
+ if (i > 0)
+ {
+ ss << ", ";
+ }
+ ss << "(" << i << " => " << newlyGenerate << ")";
+ }
+ ss << "]" << std::endl;
+ }
+ }
+ }
+ }
+ return ss.str();
+ }
+
+ void LongTermMemoryLUT::updateLUT(const EasyStringMemory& info)
+ {
+ for (const auto& [coreKey, coreSegment] : info)
+ {
+ if (lut.find(coreKey) == lut.end())
+ {
+ lut[coreKey] = coreSegment;
+ continue;
+ }
+
+ EasyStringCoreSegment& lutCoreSegment = lut[coreKey];
+ for (const auto& [providerKey, providerSegment] : coreSegment)
+ {
+ if (lutCoreSegment.find(providerKey) == lutCoreSegment.end())
+ {
+ lutCoreSegment[providerKey] = providerSegment;
+ continue;
+ }
+
+ EasyStringProviderSegment& lutProviderSegment = lutCoreSegment[providerKey];
+ for (const auto& [entityKey, entity] : providerSegment)
+ {
+ if (lutProviderSegment.find(entityKey) == lutProviderSegment.end())
+ {
+ lutProviderSegment[entityKey] = entity;
+ continue;
+ }
+
+ EasyStringEntity& lutEntity = lutProviderSegment[entityKey];
+ for (const auto& [entityHistoryTimestamp, entitySnapshot] : entity)
+ {
+ if (lutEntity.find(entityHistoryTimestamp) == lutEntity.end())
+ {
+ lutEntity[entityHistoryTimestamp] = entitySnapshot;
+ continue;
+ }
+
+ EasyStringEntityHistory& lutEntitySnapshot = lutEntity[entityHistoryTimestamp];
+ //for (unsigned int i = 0; i < entitySnapshot.size(); ++i)
+ //{
+ //const std::string& newlyGenerate = entitySnapshot[i];
+ //}
+ // for now, simply overwrite all values since a history timestamp should not have to different snapshots
+ lutEntitySnapshot = entitySnapshot;
+ }
+ }
+ }
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.h b/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.h
index 0d286eedb..9f6f937e3 100644
--- a/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.h
+++ b/source/RobotAPI/libraries/armem/ltm/LongTermMemoryLUT.h
@@ -34,13 +34,6 @@ namespace armarx::armem
{
namespace ltm
{
-
- typedef std::vector<std::string> EasyStringEntityHistory; // only store paths to stored files
- typedef std::map<Time, EasyStringEntityHistory> EasyStringEntity;
- typedef std::map<std::string, EasyStringEntity> EasyStringProviderSegment;
- typedef std::map<std::string, EasyStringProviderSegment> EasyStringCoreSegment;
- typedef std::map<std::string, EasyStringCoreSegment> EasyStringMemory;
-
class LongTermMemoryLUT;
typedef std::shared_ptr<LongTermMemoryLUT> LongTermMemoryLUTPtr;
@@ -51,8 +44,15 @@ namespace armarx::armem
LongTermMemoryLUT(const std::string&);
LongTermMemoryLUT(const io::DiskWriterPtr&);
- bool writeOnDisk(const MemoryPtr&);
- bool writeOnDisk(const std::map<std::string, CoreSegmentPtr>&);
+ void writeOnDisk(const MemoryPtr&);
+ void writeOnDisk(const std::map<std::string, CoreSegmentPtr>&);
+
+ void loadFromDisk();
+
+ std::string getLUTasString();
+
+ private:
+ void updateLUT(const EasyStringMemory& info);
private:
EasyStringMemory lut;
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
index 4cbd3f01a..98367758d 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
@@ -47,8 +47,24 @@ namespace armarx::armem
{
namespace ltm
{
+ typedef std::vector<std::string> EasyStringEntityHistory; // absolute paths to stored files
+ typedef std::map<Time, EasyStringEntityHistory> EasyStringEntity;
+ typedef std::map<std::string, EasyStringEntity> EasyStringProviderSegment;
+ typedef std::map<std::string, EasyStringProviderSegment> EasyStringCoreSegment;
+ typedef std::map<std::string, EasyStringCoreSegment> EasyStringMemory;
+
namespace io
{
+ struct DiskWriterReturnInformation
+ {
+ EasyStringMemory storedElements;
+ std::vector<std::string> coreSegmentsError;
+ std::vector<std::string> providerSegmentsError;
+ std::vector<std::string> entitiesError;
+ std::vector<std::string> historyTimestampsError;
+ std::vector<std::string> entityInstancesError;
+ };
+
class DiskWriter;
using DiskWriterPtr = std::shared_ptr<DiskWriter>;
@@ -56,7 +72,7 @@ namespace armarx::armem
{
public:
DiskWriter() :
- rootPath("/tmp/")
+ rootPath("/tmp/MemoryExport/")
{}
DiskWriter(const std::string& r) :
@@ -73,57 +89,112 @@ namespace armarx::armem
}
}
- bool writeOnDisk(const MemoryPtr& m)
+ DiskWriterReturnInformation writeOnDisk(const MemoryPtr& m)
{
return writeOnDisk(m->coreSegments);
}
- bool writeOnDisk(const std::map<std::string, CoreSegmentPtr>& m)
+ DiskWriterReturnInformation writeOnDisk(const std::map<std::string, CoreSegmentPtr>& m)
{
+ DiskWriterReturnInformation ret;
for (const auto& [coreKey, coreSegment] : m)
{
- ensureCoreSegmentPathExists(coreKey);
+ std::string currentMemoryPath = coreKey;
+ if (!ensureCoreSegmentPathExists(coreKey))
+ {
+ ret.coreSegmentsError.push_back(currentMemoryPath);
+ continue;
+ }
+ ret.storedElements[coreKey] = {};
for (const auto& [providerKey, providerSegment] : coreSegment->providerSegments)
{
- ensureProviderSegmentPathExists(coreKey, providerKey);
- for (const auto& [entityKey, entityHistory] : providerSegment->entities)
+ currentMemoryPath += "/" + providerKey;
+ if (!ensureProviderSegmentPathExists(coreKey, providerKey))
+ {
+ ret.providerSegmentsError.push_back(currentMemoryPath);
+ continue;
+ }
+ ret.storedElements[coreKey][providerKey] = {};
+ for (const auto& [entityKey, entity] : providerSegment->entities)
{
- ensureEntityPathExists(coreKey, providerKey, entityKey);
- for (const auto& [entityHistoryTimestamp, entitySnapshot] : entityHistory->history)
+ currentMemoryPath += "/" + entityKey;
+ if (!ensureEntityPathExists(coreKey, providerKey, entityKey))
+ {
+ ret.entitiesError.push_back(currentMemoryPath);
+ continue;
+ }
+ ret.storedElements[coreKey][providerKey][entityKey] = {};
+ for (const auto& [entityHistoryTimestamp, entitySnapshot] : entity->history)
{
- ensureTimestampPathExists(coreKey, providerKey, entityKey, entityHistoryTimestamp);
+ currentMemoryPath += "/" + std::to_string(entityHistoryTimestamp.toMilliSeconds());
+ if (!ensureTimestampPathExists(coreKey, providerKey, entityKey, entityHistoryTimestamp))
+ {
+ ret.historyTimestampsError.push_back(currentMemoryPath);
+ continue;
+ }
+ ret.storedElements[coreKey][providerKey][entityKey][entityHistoryTimestamp] = {};
for (unsigned int i = 0; i < entitySnapshot->instances.size(); ++i)
{
+ currentMemoryPath += "/" + std::to_string(i);
std::filesystem::path entityElementPath = createEntityElementPath(coreKey, providerKey, entityKey, entityHistoryTimestamp, i);
- if (!entityElementPathExists(entityElementPath))
+ std::string val = getDataAsString(wrapData(entitySnapshot->instances[i]));
+ if (entityElementPathExists(entityElementPath))
{
- std::ofstream ofs;
- ofs.open(entityElementPath);
-
-
- ofs << getDataAsString(wrapData(entitySnapshot->instances[i]));
- ofs.close();
+ if (std::filesystem::is_directory(entityElementPath))
+ {
+ ret.entityInstancesError.push_back(currentMemoryPath);
+ continue;
+ }
+ std::ifstream ifs(entityElementPath);
+ std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
+ if (file_content == val)
+ {
+ // already written. skip
+ continue;
+ }
}
- // check content if file already existent?
+ // write
+ std::ofstream ofs;
+ ofs.open(entityElementPath);
+ ofs << val;
+ ofs.close();
+ ret.storedElements[coreKey][providerKey][entityKey][entityHistoryTimestamp].push_back(entityElementPath);
}
}
}
}
}
- return true;
+ return ret;
}
protected:
aron::datanavigator::AronDictDataNavigatorPtr wrapData(const EntityInstancePtr& e) const
{
aron::datanavigator::AronDictDataNavigatorPtr dataWrapped(new aron::datanavigator::AronDictDataNavigator());
- dataWrapped->addElement("instanceData", e->data());
+ dataWrapped->addElement("data", e->data());
aron::datanavigator::AronLongDataNavigatorPtr timeWrapped(new aron::datanavigator::AronLongDataNavigator());
timeWrapped->setValue(Time::now().toMilliSeconds());
dataWrapped->addElement("timeWrapped", timeWrapped);
- // TODO add more metadata
+
+ const EntityInstanceMetadata& metadata = e->metadata();
+ aron::datanavigator::AronLongDataNavigatorPtr timeCreated(new aron::datanavigator::AronLongDataNavigator());
+ timeCreated->setValue(metadata.timeCreated.toMilliSeconds());
+ dataWrapped->addElement("timeCreated", timeCreated);
+
+ aron::datanavigator::AronLongDataNavigatorPtr timeSent(new aron::datanavigator::AronLongDataNavigator());
+ timeSent->setValue(metadata.timeSent.toMilliSeconds());
+ dataWrapped->addElement("timeSent", timeSent);
+
+ aron::datanavigator::AronLongDataNavigatorPtr timeArrived(new aron::datanavigator::AronLongDataNavigator());
+ timeArrived->setValue(metadata.timeArrived.toMilliSeconds());
+ dataWrapped->addElement("timeArrived", timeArrived);
+
+ aron::datanavigator::AronFloatDataNavigatorPtr confidence(new aron::datanavigator::AronFloatDataNavigator());
+ confidence->setValue(metadata.confidence);
+ dataWrapped->addElement("confidence", confidence);
+
return dataWrapped;
}
diff --git a/source/RobotAPI/libraries/armem/memory/EntityInstance.h b/source/RobotAPI/libraries/armem/memory/EntityInstance.h
index d331bb946..d4c0a112a 100644
--- a/source/RobotAPI/libraries/armem/memory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/memory/EntityInstance.h
@@ -3,7 +3,7 @@
#include <memory>
#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h>
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h>
#include "../core/Time.h"
diff --git a/source/RobotAPI/libraries/armem/memory/Memory.h b/source/RobotAPI/libraries/armem/memory/Memory.h
index ae0561389..37f34d3c0 100644
--- a/source/RobotAPI/libraries/armem/memory/Memory.h
+++ b/source/RobotAPI/libraries/armem/memory/Memory.h
@@ -45,7 +45,6 @@ namespace armarx::armem
using Base::getEntity;
const Entity& getEntity(const MemoryID& id) const override;
-
/**
* @brief Add an empty core segment with the given name.
* @param name The core segment name.
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 82b2e8fef..9afa46513 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -150,4 +150,6 @@ BOOST_AUTO_TEST_CASE(test_memory_heavy_setup_and_export)
// export memory
armem::ltm::LongTermMemoryLUT ltm("/tmp/MemoryExport/");
ltm.writeOnDisk(memory);
+
+ std::cout << ltm.getLUTasString() << std::endl;
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/AronConfig.h b/source/RobotAPI/libraries/aron/aroncore/AronConfig.h
index e1176aa38..a40e3cd54 100644
--- a/source/RobotAPI/libraries/aron/aroncore/AronConfig.h
+++ b/source/RobotAPI/libraries/aron/aroncore/AronConfig.h
@@ -84,6 +84,14 @@ namespace armarx
RUN_ARON_MACRO(Dict, dict, DICT) \
RUN_ARON_MACRO(Tuple, tuple, TUPLE) \
+#define HANDLE_DICT_SERIALIZER_TYPES \
+ RUN_ARON_MACRO(Object, object, OBJECT) \
+ RUN_ARON_MACRO(Dict, dict, DICT) \
+
+#define HANDLE_LIST_SERIALIZER_TYPES \
+ RUN_ARON_MACRO(List, list, LIST) \
+ RUN_ARON_MACRO(Tuple, tuple, TUPLE) \
+
#define HANDLE_CONTAINER_TYPES_EXCEPT_OBJECT \
RUN_ARON_MACRO(List, list, LIST) \
RUN_ARON_MACRO(Dict, dict, DICT) \
diff --git a/source/RobotAPI/libraries/aron/aroncore/AronFactory.h b/source/RobotAPI/libraries/aron/aroncore/AronFactory.h
index 04ab18cf6..6ec2b1604 100644
--- a/source/RobotAPI/libraries/aron/aroncore/AronFactory.h
+++ b/source/RobotAPI/libraries/aron/aroncore/AronFactory.h
@@ -50,7 +50,7 @@ namespace armarx
template <typename Input, typename Output>
class AronPtrInputFactory :
- virtual public AronFactory<Input, Output>
+ virtual public AronFactory<Input, Output>
{
public:
AronPtrInputFactory() = default;
@@ -61,7 +61,7 @@ namespace armarx
protected:
static void CheckIfInputIsNull(const std::string& c, const std::string& m, const AronPath& p, const Input& i)
{
- if(i.get() == nullptr)
+ if (i.get() == nullptr)
{
throw exception::AronExceptionWithPathInfo(c, m, "The used input is NULL", p);
}
@@ -70,7 +70,7 @@ namespace armarx
template <typename Input, typename Output>
class AronPtrOutputFactory :
- virtual public AronFactory<Input, Output>
+ virtual public AronFactory<Input, Output>
{
public:
AronPtrOutputFactory() = default;
@@ -81,7 +81,7 @@ namespace armarx
protected:
static void CheckIfOutputIsNull(const std::string& c, const std::string& m, const AronPath& p, const Output& o)
{
- if(o.get() == nullptr)
+ if (o.get() == nullptr)
{
throw exception::AronExceptionWithPathInfo(c, m, "The used output is NULL", p);
}
@@ -90,8 +90,8 @@ namespace armarx
template <typename Input, typename Output>
class AronPtrInputPtrOutputFactory :
- virtual public AronPtrInputFactory<Input, Output>,
- virtual public AronPtrOutputFactory<Input, Output>
+ virtual public AronPtrInputFactory<Input, Output>,
+ virtual public AronPtrOutputFactory<Input, Output>
{
public:
AronPtrInputPtrOutputFactory() = default;
diff --git a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
index a854d7566..c22a9cd65 100644
--- a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
@@ -50,12 +50,14 @@ namespace armarx
void AronTypeClassCppWriter::addToAronMethod()
{
// The toAron Serializer is visible by default
- AronWriterInfoPtr toAron = AronWriterInfoPtr(new AronWriterInfo());
- toAron->methodName = "toAron";
- toAron->returnType = "armarx::aron::datanavigator::AronDataNavigatorPtr";
- toAron->writerClassType = "armarx::aron::io::AronDataNavigatorWriter";
- toAron->include = "<RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h>";
- dataWriters.push_back(toAron);
+ {
+ AronWriterInfoPtr toAron = AronWriterInfoPtr(new AronWriterInfo());
+ toAron->methodName = "toAron";
+ toAron->returnType = "armarx::aron::datanavigator::AronDictDataNavigatorPtr";
+ toAron->writerClassType = "armarx::aron::io::AronDataNavigatorWriter";
+ toAron->include = "<RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h>";
+ dataWriters.push_back(toAron);
+ }
}
void AronTypeClassCppWriter::addFromAronMethod()
@@ -64,7 +66,7 @@ namespace armarx
{
AronReaderInfoPtr fromAron = AronReaderInfoPtr(new AronReaderInfo());
fromAron->methodName = "fromAron";
- fromAron->argumentType = "armarx::aron::datanavigator::AronDataNavigatorPtr";
+ fromAron->argumentType = "armarx::aron::datanavigator::AronDictDataNavigatorPtr";
fromAron->readerClassType = "armarx::aron::io::AronDataNavigatorReader";
fromAron->include = "<RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h>";
dataReaders.push_back(fromAron);
@@ -72,9 +74,8 @@ namespace armarx
{
AronReaderInfoPtr fromAron = AronReaderInfoPtr(new AronReaderInfo());
fromAron->methodName = "fromAron";
- fromAron->argumentType = "armarx::aron::data::AronDataPtr";
+ fromAron->argumentType = "armarx::aron::data::AronDictPtr";
fromAron->readerClassType = "armarx::aron::io::AronDataNavigatorReader";
- fromAron->include = "<RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h>";
dataReaders.push_back(fromAron);
}
}
@@ -84,7 +85,7 @@ namespace armarx
// The toAron Serializer is visible by default
AronWriterInfoPtr toAronType = AronWriterInfoPtr(new AronWriterInfo());
toAronType->methodName = "toInitialAronType";
- toAronType->returnType = "armarx::aron::typenavigator::AronTypeNavigatorPtr";
+ toAronType->returnType = "armarx::aron::typenavigator::AronObjectTypeNavigatorPtr";
toAronType->writerClassType = "armarx::aron::io::AronTypeNavigatorWriter";
toAronType->include = "<RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.h>";
initialTypeWriters.push_back(toAronType);
@@ -92,7 +93,7 @@ namespace armarx
// The toAron Serializer is visible by default
AronWriterInfoPtr toAronType2 = AronWriterInfoPtr(new AronWriterInfo());
toAronType2->methodName = "toCurrentAronType";
- toAronType2->returnType = "armarx::aron::typenavigator::AronTypeNavigatorPtr";
+ toAronType2->returnType = "armarx::aron::typenavigator::AronObjectTypeNavigatorPtr";
toAronType2->writerClassType = "armarx::aron::io::AronTypeNavigatorWriter";
currentTypeWriters.push_back(toAronType2);
}
@@ -173,7 +174,7 @@ namespace armarx
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedDataWriterMethod(info->returnType, info->methodName, info->writerClassType);
+ CppMethodPtr convert = objectSerializer->toSpecializedDataWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::datanavigator::AronDictDataNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -195,7 +196,7 @@ namespace armarx
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedInitialTypeWriterMethod(info->returnType, info->methodName, info->writerClassType);
+ CppMethodPtr convert = objectSerializer->toSpecializedInitialTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::AronObjectTypeNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -206,7 +207,7 @@ namespace armarx
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedCurrentTypeWriterMethod(info->returnType, info->methodName, info->writerClassType);
+ CppMethodPtr convert = objectSerializer->toSpecializedCurrentTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::AronObjectTypeNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -217,7 +218,7 @@ namespace armarx
{
c->addInclude(info->include);
}
- CppMethodPtr convert = objectSerializer->toSpecializedTypeReaderMethod(info->argumentType, info->methodName, info->readerClassType);
+ CppMethodPtr convert = objectSerializer->toSpecializedCurrentTypeReaderMethod(info->argumentType, info->methodName, info->readerClassType);
c->addMethod(convert);
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.cpp b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.cpp
index 9dc61382a..a64a9a0a9 100644
--- a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.cpp
@@ -244,7 +244,7 @@ namespace armarx
return m;
}
- CppMethodPtr AronTypeCppSerializer::toSpecializedDataWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName) const
+ CppMethodPtr AronTypeCppSerializer::toSpecializedDataWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedDataWrite() - This method returns a new data from the member data types using a writer implementation. \n";
@@ -253,23 +253,23 @@ namespace armarx
CppMethodPtr m = CppMethodPtr(new CppMethod(returnname + " " + methodname + "() const", doc.str()));
m->addLine(writerName + " writer;");
m->addLine("this->write(writer);");
- m->addLine("return writer.getResult();");
+ m->addLine("return " + enforceConversion + "(writer.getResult());");
return m;
}
- CppMethodPtr AronTypeCppSerializer::toSpecializedDataReaderMethod(const std::string& argumentname, const std::string& methodname, const std::string& readerName) const
+ CppMethodPtr AronTypeCppSerializer::toSpecializedDataReaderMethod(const std::string& argumentname, const std::string& methodname, const std::string& readerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedDataRead() - This method sets the struct members to new values given in a reader implementation. \n";
doc << "@return - nothing";
CppMethodPtr m = CppMethodPtr(new CppMethod("void " + methodname + "(const " + argumentname + "& input)", doc.str()));
- m->addLine(readerName + " reader(input);");
+ m->addLine(readerName + " reader(" + enforceConversion + "(input));");
m->addLine("this->read(reader);");
return m;
}
- CppMethodPtr AronTypeCppSerializer::toSpecializedInitialTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName) const
+ CppMethodPtr AronTypeCppSerializer::toSpecializedInitialTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedTypeWrite() - This method returns a new type from the member data types using a writer implementation. \n";
@@ -278,11 +278,11 @@ namespace armarx
CppMethodPtr m = CppMethodPtr(new CppMethod("static " + returnname + " " + methodname + "()", doc.str()));
m->addLine(writerName + " writer;");
m->addLine(getCppTypename() + "::writeInitialType(writer);");
- m->addLine("return writer.getResult();");
+ m->addLine("return " + enforceConversion + "(writer.getResult());");
return m;
}
- CppMethodPtr AronTypeCppSerializer::toSpecializedCurrentTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName) const
+ CppMethodPtr AronTypeCppSerializer::toSpecializedCurrentTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedTypeWrite() - This method returns a new type from the current member data types using a writer implementation. \n";
@@ -291,18 +291,18 @@ namespace armarx
CppMethodPtr m = CppMethodPtr(new CppMethod(returnname + " " + methodname + "()", doc.str()));
m->addLine(writerName + " writer;");
m->addLine("this->writeCurrentType(writer);");
- m->addLine("return writer.getResult();");
+ m->addLine("return " + enforceConversion + "(writer.getResult());");
return m;
}
- CppMethodPtr AronTypeCppSerializer::toSpecializedTypeReaderMethod(const std::string& argumentname, const std::string& methodname, const std::string& readerName) const
+ CppMethodPtr AronTypeCppSerializer::toSpecializedCurrentTypeReaderMethod(const std::string& argumentname, const std::string& methodname, const std::string& readerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedTypeRead() - This method sets the structure of the members to new values given in a reader implementation. \n";
doc << "@return - nothing";
CppMethodPtr m = CppMethodPtr(new CppMethod("void " + methodname + "(const " + argumentname + "& input)", doc.str()));
- m->addLine(readerName + " reader(input);");
+ m->addLine(readerName + " reader(" + enforceConversion + "(input));");
m->addLine("this->readType(reader);");
return m;
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.h b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.h
index aaecbf40d..51bab528d 100644
--- a/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.h
+++ b/source/RobotAPI/libraries/aron/aroncore/codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.h
@@ -78,12 +78,12 @@ namespace armarx
std::string getAronTypeTypename() const;
std::string getAronTypePtrTypename() const;
- CppMethodPtr toSpecializedDataWriterMethod(const std::string&, const std::string&, const std::string&) const;
- CppMethodPtr toSpecializedDataReaderMethod(const std::string&, const std::string&, const std::string&) const;
+ CppMethodPtr toSpecializedDataWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
+ CppMethodPtr toSpecializedDataReaderMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
- CppMethodPtr toSpecializedInitialTypeWriterMethod(const std::string&, const std::string&, const std::string&) const;
- CppMethodPtr toSpecializedCurrentTypeWriterMethod(const std::string&, const std::string&, const std::string&) const;
- CppMethodPtr toSpecializedTypeReaderMethod(const std::string&, const std::string&, const std::string&) const;
+ CppMethodPtr toSpecializedInitialTypeWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
+ CppMethodPtr toSpecializedCurrentTypeWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
+ CppMethodPtr toSpecializedCurrentTypeReaderMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
// virtual override definitions
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const = 0;
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/AronDataClassReaderToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/AronDataClassReaderToken.h
index 2e52bc5aa..11daabc82 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/AronDataClassReaderToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/AronDataClassReaderToken.h
@@ -39,24 +39,24 @@ namespace armarx
{
namespace io
{
- template<typename ElementPtrTypename>
+ template<typename ElementReturnPtrTypename, typename ElementAddTypename>
class AronDataClassReaderToken;
- template<typename ElementPtrTypename>
- using AronDataClassReaderTokenPtr = std::shared_ptr<AronDataClassReaderToken<ElementPtrTypename>>;
+ template<typename ElementReturnPtrTypename, typename ElementAddTypename>
+ using AronDataClassReaderTokenPtr = std::shared_ptr<AronDataClassReaderToken<ElementReturnPtrTypename, ElementAddTypename>>;
- template<typename ElementPtrTypename>
+ template<typename ElementReturnPtrTypename, typename ElementAddTypename>
class AronDataClassReaderToken :
- virtual public AronReaderToken<AronDataDescriptor, ElementPtrTypename>
+ virtual public AronReaderToken<AronDataDescriptor, ElementReturnPtrTypename, ElementAddTypename>
{
public:
- using PointerType = AronDataClassReaderToken<ElementPtrTypename>;
+ using PointerType = AronDataClassReaderTokenPtr<ElementReturnPtrTypename, ElementAddTypename>;
public:
// constructors
AronDataClassReaderToken() = delete;
- AronDataClassReaderToken(const AronDataDescriptor desc, const ElementPtrTypename& data) :
- AronReaderToken<AronDataDescriptor, ElementPtrTypename>(desc, data)
+ AronDataClassReaderToken(const AronDataDescriptor desc, const ElementAddTypename& data) :
+ AronReaderToken<AronDataDescriptor, ElementReturnPtrTypename, ElementAddTypename>(desc, data)
{ }
virtual std::string resolveCurrentKey() const override
@@ -78,7 +78,7 @@ namespace armarx
return this->currentKey;
}
- virtual ElementPtrTypename getElementAndIncreaseCnt() override = 0;
+ virtual ElementReturnPtrTypename getElementAndIncreaseCnt() override = 0;
private:
};
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.cpp
index 018bbf0ec..b37dde676 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.cpp
@@ -38,14 +38,14 @@ namespace armarx
{
namespace io
{
- AronDataNavigatorReader::AronDataNavigatorReader(const datanavigator::AronDataNavigatorPtr& n) :
- AronDataClassReader<datanavigator::AronDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>(n)
+ AronDataNavigatorReader::AronDataNavigatorReader(const datanavigator::AronContainerDataNavigatorPtr& n) :
+ AronDataClassReader<datanavigator::AronContainerDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>(n)
{
}
- AronDataNavigatorReader::AronDataNavigatorReader(const data::AronDataPtr& n) :
- AronDataClassReader<datanavigator::AronDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>(
- datanavigator::AronDataNavigator::FromAronData(n)
+ AronDataNavigatorReader::AronDataNavigatorReader(const data::AronContainerPtr& n) :
+ AronDataClassReader<datanavigator::AronContainerDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>(
+ datanavigator::AronContainerDataNavigator::DynamicCast(datanavigator::AronDataNavigator::FromAronData(n))
)
{
}
@@ -65,8 +65,15 @@ namespace armarx
int AronDataNavigatorReader::readStart##upperType() \
{ \
datanavigator::AronDataNavigatorPtr current_nav = getNextNavigator(); \
+ auto desc = current_nav->getDescriptor(); \
+ if (desc != AronDataDescriptor::eAron##upperType) \
+ { \
+ throw exception::AronDataDescriptorNotValidException("AronDataNavigatorReader", "readStart" + std::string(#upperType), "A token in the stack has the wrong type. Expected " + std::string(#upperType), desc); \
+ return false; \
+ } \
+ datanavigator::Aron##upperType##DataNavigatorPtr current_nav_casted = datanavigator::Aron##upperType##DataNavigator::DynamicCast(current_nav); \
int c = current_nav->childrenSize(); \
- AronDataNavigatorReaderTokenPtr newToken = AronDataNavigatorReaderTokenPtr(new AronDataNavigatorReaderToken(current_nav->getDescriptor(), current_nav)); \
+ AronDataNavigatorReaderTokenPtr newToken = AronDataNavigatorReaderTokenPtr(new AronDataNavigatorReaderToken(current_nav->getDescriptor(), current_nav_casted)); \
stack.push(newToken); \
return c; \
} \
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h
index 79fd1db67..e6edac332 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.h
@@ -41,7 +41,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNavigatorReader> AronDataNavigatorReaderPtr;
class AronDataNavigatorReader :
- virtual public AronDataClassReader<datanavigator::AronDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>
+ virtual public AronDataClassReader<datanavigator::AronContainerDataNavigatorPtr, AronDataNavigatorReaderTokenPtr>
{
public:
using PointerType = AronDataNavigatorReaderPtr;
@@ -49,8 +49,8 @@ namespace armarx
public:
// constructors
AronDataNavigatorReader() = delete;
- AronDataNavigatorReader(const datanavigator::AronDataNavigatorPtr& n);
- AronDataNavigatorReader(const data::AronDataPtr& n);
+ AronDataNavigatorReader(const datanavigator::AronContainerDataNavigatorPtr& n);
+ AronDataNavigatorReader(const data::AronContainerPtr& n);
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
virtual int readStart##upperType() override; \
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReaderToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReaderToken.h
index 28c4488b9..be68ba2a5 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReaderToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReaderToken.h
@@ -42,7 +42,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNavigatorReaderToken> AronDataNavigatorReaderTokenPtr;
class AronDataNavigatorReaderToken :
- virtual public AronDataClassReaderToken<datanavigator::AronDataNavigatorPtr>
+ virtual public AronDataClassReaderToken<datanavigator::AronDataNavigatorPtr, datanavigator::AronContainerDataNavigatorPtr>
{
public:
using PointerType = AronDataNavigatorReaderTokenPtr;
@@ -50,9 +50,9 @@ namespace armarx
public:
// constructors
AronDataNavigatorReaderToken() = delete;
- AronDataNavigatorReaderToken(const AronDataDescriptor desc, const datanavigator::AronDataNavigatorPtr& data) :
- AronReaderToken<AronDataDescriptor, datanavigator::AronDataNavigatorPtr>(desc, data),
- AronDataClassReaderToken<datanavigator::AronDataNavigatorPtr>(desc, data)
+ AronDataNavigatorReaderToken(const AronDataDescriptor desc, const datanavigator::AronContainerDataNavigatorPtr& data) :
+ AronReaderToken<AronDataDescriptor, datanavigator::AronDataNavigatorPtr, datanavigator::AronContainerDataNavigatorPtr>(desc, data),
+ AronDataClassReaderToken<datanavigator::AronDataNavigatorPtr, datanavigator::AronContainerDataNavigatorPtr>(desc, data)
{
switch (descriptor)
{
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReaderToken.h
index 42f81e4b8..3ee8d3c54 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReaderToken.h
@@ -44,7 +44,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNlohmannJSONReaderToken> AronDataNlohmannJSONReaderTokenPtr;
class AronDataNlohmannJSONReaderToken :
- virtual public AronDataClassReaderToken<nlohmann::json>
+ virtual public AronDataClassReaderToken<nlohmann::json, nlohmann::json>
{
public:
using PointerType = AronDataNlohmannJSONReaderTokenPtr;
@@ -53,8 +53,8 @@ namespace armarx
// constructors
AronDataNlohmannJSONReaderToken() = delete;
AronDataNlohmannJSONReaderToken(const AronDataDescriptor desc, const nlohmann::json& data) :
- AronReaderToken<AronDataDescriptor, nlohmann::json>(desc, data),
- AronDataClassReaderToken<nlohmann::json>(desc, data)
+ AronReaderToken<AronDataDescriptor, nlohmann::json, nlohmann::json>(desc, data),
+ AronDataClassReaderToken<nlohmann::json, nlohmann::json>(desc, data)
{
switch (descriptor)
{
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/AronDataClassWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/AronDataClassWriterToken.h
index e15fa0cdd..141e1de42 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/AronDataClassWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/AronDataClassWriterToken.h
@@ -37,28 +37,28 @@ namespace armarx
{
namespace io
{
- template<typename ElementTypename>
+ template<typename ElementTypename, typename ElementAddTypename>
class AronDataClassWriterToken;
- template<typename ElementTypename>
- using AronDataClassWriterTokenPtr = std::shared_ptr<AronDataClassWriterToken<ElementTypename>>;
+ template<typename ElementTypename, typename ElementAddTypename>
+ using AronDataClassWriterTokenPtr = std::shared_ptr<AronDataClassWriterToken<ElementTypename, ElementAddTypename>>;
- template<typename ElementTypename>
+ template<typename ElementTypename, typename ElementAddTypename>
class AronDataClassWriterToken :
- virtual public AronWriterToken<AronDataDescriptor, ElementTypename>
+ virtual public AronWriterToken<AronDataDescriptor, ElementTypename, ElementAddTypename>
{
public:
- using PointerType = AronDataClassWriterToken<ElementTypename>;
+ using PointerType = AronDataClassWriterToken<ElementTypename, ElementAddTypename>;
public:
// constructor
AronDataClassWriterToken() = delete;
AronDataClassWriterToken(const AronDataDescriptor desc, const ElementTypename& n) :
- AronWriterToken<AronDataDescriptor, ElementTypename>(desc, n)
+ AronWriterToken<AronDataDescriptor, ElementTypename, ElementAddTypename>(desc, n)
{}
// public member functions
- virtual void addElement(const ElementTypename&) override = 0;
+ virtual void addElement(const ElementAddTypename&) override = 0;
virtual std::string toElementAccessor() const override
{
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.cpp
index 474139dbf..a39b26b54 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.cpp
@@ -57,7 +57,7 @@ namespace armarx
bool AronDataNavigatorWriter::writeStart##upperType() \
{ \
AronPath path = generateAronPath(); \
- datanavigator::AronDataNavigatorPtr data = datanavigator::AronDataNavigatorPtr(new datanavigator::Aron##upperType##DataNavigator(path)); \
+ datanavigator::Aron##upperType##DataNavigatorPtr data = datanavigator::Aron##upperType##DataNavigatorPtr(new datanavigator::Aron##upperType##DataNavigator(path)); \
AronDataNavigatorWriterTokenPtr new_token = AronDataNavigatorWriterTokenPtr(new AronDataNavigatorWriterToken(data->getDescriptor(), data)); \
stack.push(new_token); \
return true; \
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h
index 93126c07a..ab1022c8f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h
@@ -42,7 +42,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNavigatorWriter> AronDataNavigatorWriterPtr;
class AronDataNavigatorWriter :
- virtual public AronDataClassWriter<datanavigator::AronDataNavigatorPtr, AronDataNavigatorWriterTokenPtr>
+ virtual public AronDataClassWriter<datanavigator::AronContainerDataNavigatorPtr, AronDataNavigatorWriterTokenPtr>
{
public:
AronDataNavigatorWriter() = default;
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriterToken.h
index bc6fd30ba..5c1945599 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriterToken.h
@@ -41,7 +41,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNavigatorWriterToken> AronDataNavigatorWriterTokenPtr;
class AronDataNavigatorWriterToken :
- virtual public AronDataClassWriterToken<datanavigator::AronDataNavigatorPtr>
+ virtual public AronDataClassWriterToken<datanavigator::AronContainerDataNavigatorPtr, datanavigator::AronDataNavigatorPtr>
{
public:
using PointerType = AronDataNavigatorWriterTokenPtr;
@@ -49,9 +49,9 @@ namespace armarx
public:
// constructor
AronDataNavigatorWriterToken() = delete;
- AronDataNavigatorWriterToken(const AronDataDescriptor desc, const datanavigator::AronDataNavigatorPtr& d) :
- AronWriterToken<AronDataDescriptor, datanavigator::AronDataNavigatorPtr>(desc, d),
- AronDataClassWriterToken<datanavigator::AronDataNavigatorPtr>(desc, d)
+ AronDataNavigatorWriterToken(const AronDataDescriptor desc, const datanavigator::AronContainerDataNavigatorPtr& d) :
+ AronWriterToken<AronDataDescriptor, datanavigator::AronContainerDataNavigatorPtr, datanavigator::AronDataNavigatorPtr>(desc, d),
+ AronDataClassWriterToken<datanavigator::AronContainerDataNavigatorPtr, datanavigator::AronDataNavigatorPtr>(desc, d)
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NlohmannJSONWriter/AronDataNlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NlohmannJSONWriter/AronDataNlohmannJSONWriterToken.h
index 455b8b23e..4246f10e3 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NlohmannJSONWriter/AronDataNlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NlohmannJSONWriter/AronDataNlohmannJSONWriterToken.h
@@ -43,7 +43,7 @@ namespace armarx
typedef std::shared_ptr<AronDataNlohmannJSONWriterToken> AronDataNlohmannJSONWriterTokenPtr;
class AronDataNlohmannJSONWriterToken :
- virtual public AronDataClassWriterToken<nlohmann::json>
+ virtual public AronDataClassWriterToken<nlohmann::json, nlohmann::json>
{
public:
using PointerType = AronDataNlohmannJSONWriterTokenPtr;
@@ -52,8 +52,8 @@ namespace armarx
// constructor
AronDataNlohmannJSONWriterToken() = delete;
AronDataNlohmannJSONWriterToken(const AronDataDescriptor desc, const nlohmann::json& d) :
- AronWriterToken<AronDataDescriptor, nlohmann::json>(desc, d),
- AronDataClassWriterToken<nlohmann::json>(desc, d)
+ AronWriterToken<AronDataDescriptor, nlohmann::json, nlohmann::json>(desc, d),
+ AronDataClassWriterToken<nlohmann::json, nlohmann::json>(desc, d)
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/RapidXMLWriter/AronDataRapidXMLWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/RapidXMLWriter/AronDataRapidXMLWriterToken.h
index 2e82c9326..9e2959e8d 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/RapidXMLWriter/AronDataRapidXMLWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/RapidXMLWriter/AronDataRapidXMLWriterToken.h
@@ -44,7 +44,7 @@ namespace armarx
typedef std::shared_ptr<AronDataRapidXMLWriterToken> AronDataRapidXMLWriterTokenPtr;
class AronDataRapidXMLWriterToken :
- virtual public AronDataClassWriterToken<RapidXmlReaderNode>
+ virtual public AronDataClassWriterToken<RapidXmlReaderNode, RapidXmlReaderNode>
{
public:
using PointerType = AronDataRapidXMLWriterTokenPtr;
@@ -53,8 +53,8 @@ namespace armarx
// constructor
AronDataRapidXMLWriterToken() = delete;
AronDataRapidXMLWriterToken(const AronDataDescriptor desc, const RapidXmlReaderNode& d) :
- AronWriterToken<AronDataDescriptor, RapidXmlReaderNode>(desc, d),
- AronDataClassWriterToken<RapidXmlReaderNode>(desc, d)
+ AronWriterToken<AronDataDescriptor, RapidXmlReaderNode, RapidXmlReaderNode>(desc, d),
+ AronDataClassWriterToken<RapidXmlReaderNode, RapidXmlReaderNode>(desc, d)
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronReaderToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronReaderToken.h
index abac79059..39ebce21c 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronReaderToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronReaderToken.h
@@ -36,13 +36,13 @@ namespace armarx
{
namespace io
{
- template<typename AronDescriptorTypename, typename ElementTypename>
+ template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
class AronReaderToken;
- template<typename AronDescriptorTypename, typename ElementTypename>
- using AronReaderTokenPtr = std::shared_ptr<AronReaderToken<AronDescriptorTypename, ElementTypename>> ;
+ template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
+ using AronReaderTokenPtr = std::shared_ptr<AronReaderToken<AronDescriptorTypename, ElementReturnPtrTypename, ElementTypename>> ;
- template<typename AronDescriptorTypename, typename ElementTypename>
+ template<typename AronDescriptorTypename, typename ElementReturnPtrTypename, typename ElementTypename>
class AronReaderToken
{
public:
@@ -73,7 +73,7 @@ namespace armarx
virtual std::string resolveCurrentKey() const = 0;
- virtual ElementTypename getElementAndIncreaseCnt() = 0;
+ virtual ElementReturnPtrTypename getElementAndIncreaseCnt() = 0;
protected:
// members
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/AronTypeClassWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/AronTypeClassWriterToken.h
index 6ca01e548..5b016ca9f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/AronTypeClassWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/AronTypeClassWriterToken.h
@@ -36,28 +36,28 @@ namespace armarx
{
namespace io
{
- template<typename ElementPtrTypename>
+ template<typename ElementPtrTypename, typename ElementAddTypename>
class AronTypeClassWriterToken;
- template<typename ElementPtrTypename>
- using AronTypeClassWriterTokenPtr = std::shared_ptr<AronTypeClassWriterToken<ElementPtrTypename>>;
+ template<typename ElementPtrTypename, typename ElementAddTypename>
+ using AronTypeClassWriterTokenPtr = std::shared_ptr<AronTypeClassWriterToken<ElementPtrTypename, ElementAddTypename>>;
- template<typename ElementPtrTypename>
+ template<typename ElementPtrTypename, typename ElementAddTypename>
class AronTypeClassWriterToken :
- virtual public AronWriterToken<AronTypeDescriptor, ElementPtrTypename>
+ virtual public AronWriterToken<AronTypeDescriptor, ElementPtrTypename, ElementAddTypename>
{
public:
- using PointerType = AronTypeClassWriterToken<ElementPtrTypename>;
+ using PointerType = AronTypeClassWriterToken<ElementPtrTypename, ElementAddTypename>;
public:
// constructor
AronTypeClassWriterToken() = delete;
AronTypeClassWriterToken(const AronTypeDescriptor desc, const ElementPtrTypename& n) :
- AronWriterToken<AronTypeDescriptor, ElementPtrTypename>(desc, n)
+ AronWriterToken<AronTypeDescriptor, ElementPtrTypename, ElementAddTypename>(desc, n)
{}
// public member functions
- virtual void addElement(const ElementPtrTypename&) = 0;
+ virtual void addElement(const ElementAddTypename&) = 0;
virtual std::string toElementAccessor() const override
{
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.cpp
index 4ed6df630..8e05757db 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.cpp
@@ -62,7 +62,7 @@ namespace armarx
bool AronTypeNavigatorWriter::writeStart##upperType##Type() \
{ \
AronPath path = generateAronPath(); \
- typenavigator::AronTypeNavigatorPtr type = typenavigator::AronTypeNavigatorPtr(new typenavigator::Aron##upperType##TypeNavigator(path)); \
+ typenavigator::Aron##upperType##TypeNavigatorPtr type = typenavigator::Aron##upperType##TypeNavigatorPtr(new typenavigator::Aron##upperType##TypeNavigator(path)); \
AronTypeNavigatorWriterTokenPtr new_token = AronTypeNavigatorWriterTokenPtr(new AronTypeNavigatorWriterToken(type->getDescriptor(), type)); \
stack.push(new_token); \
return true; \
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriterToken.h
index 95a6a0b90..393f297ab 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriterToken.h
@@ -41,7 +41,7 @@ namespace armarx
typedef std::shared_ptr<AronTypeNavigatorWriterToken> AronTypeNavigatorWriterTokenPtr;
class AronTypeNavigatorWriterToken :
- virtual public AronTypeClassWriterToken<typenavigator::AronTypeNavigatorPtr>
+ virtual public AronTypeClassWriterToken<typenavigator::AronContainerTypeNavigatorPtr, typenavigator::AronTypeNavigatorPtr>
{
public:
using PointerType = AronTypeNavigatorWriterTokenPtr;
@@ -49,9 +49,9 @@ namespace armarx
public:
// constructor
AronTypeNavigatorWriterToken() = delete;
- AronTypeNavigatorWriterToken(const AronTypeDescriptor desc, const typenavigator::AronTypeNavigatorPtr& t) :
- AronWriterToken<AronTypeDescriptor, typenavigator::AronTypeNavigatorPtr>(desc, t),
- AronTypeClassWriterToken<typenavigator::AronTypeNavigatorPtr>(desc, t)
+ AronTypeNavigatorWriterToken(const AronTypeDescriptor desc, const typenavigator::AronContainerTypeNavigatorPtr& t) :
+ AronWriterToken<AronTypeDescriptor, typenavigator::AronContainerTypeNavigatorPtr, typenavigator::AronTypeNavigatorPtr>(desc, t),
+ AronTypeClassWriterToken<typenavigator::AronContainerTypeNavigatorPtr, typenavigator::AronTypeNavigatorPtr>(desc, t)
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.cpp
index f13315860..84c0016cd 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.cpp
@@ -25,61 +25,61 @@
namespace armarx
{
-namespace aron
-{
-namespace io
-{
+ namespace aron
+ {
+ namespace io
+ {
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
bool AronTypeNlohmannJSONWriter::writeStart##upperType##Type() \
-{ \
- nlohmann::jsonPtr data = nlohmann::jsonPtr(new nlohmann::json()); \
- AronTypeNlohmannJSONWriterTokenPtr new_token = AronTypeNlohmannJSONWriterTokenPtr(new AronTypeNlohmannJSONWriterToken(AronTypeDescriptor::eAron##upperType##Type, data)); \
- stack.push(new_token); \
- return true; \
-} \
- bool AronTypeNlohmannJSONWriter::writeEnd##upperType##Type() \
-{ \
- lastRemovedToken = stack.top(); \
- stack.pop(); \
- \
- if (stack.size() > 0) \
{ \
- AronTypeNlohmannJSONWriterTokenPtr prevToken = stack.top(); \
- prevToken->addElement(lastRemovedToken->getElement()); \
+ nlohmann::json data; \
+ AronTypeNlohmannJSONWriterTokenPtr new_token = AronTypeNlohmannJSONWriterTokenPtr(new AronTypeNlohmannJSONWriterToken(AronTypeDescriptor::eAron##upperType##Type, data)); \
+ stack.push(new_token); \
+ return true; \
} \
- return true; \
-}
+ bool AronTypeNlohmannJSONWriter::writeEnd##upperType##Type() \
+ { \
+ lastRemovedToken = stack.top(); \
+ stack.pop(); \
+ \
+ if (stack.size() > 0) \
+ { \
+ AronTypeNlohmannJSONWriterTokenPtr prevToken = stack.top(); \
+ prevToken->addElement(lastRemovedToken->getElement()); \
+ } \
+ return true; \
+ }
-HANDLE_CONTAINER_TYPES
+ HANDLE_CONTAINER_TYPES
#undef RUN_ARON_MACRO
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
bool AronTypeNlohmannJSONWriter::write##upperType##Type(const std::vector<int>& dims, const std::string& t) \
-{ \
- AronTypeNlohmannJSONWriterTokenPtr token = stack.top(); \
- nlohmann::jsonPtr j = nlohmann::jsonPtr(new nlohmann::json()); \
- (*j)["ARON_NDARRAY_DIMENSIONS"] = dims; \
- (*j)["ARON_NDARRAY_TYPE"] = t; \
- token->addElement(j); \
- return true; \
-}
+ { \
+ AronTypeNlohmannJSONWriterTokenPtr token = stack.top(); \
+ nlohmann::json j; \
+ j["ARON_NDARRAY_DIMENSIONS"] = dims; \
+ j["ARON_NDARRAY_TYPE"] = t; \
+ token->addElement(j); \
+ return true; \
+ }
-HANDLE_COMPLEX_TYPES
+ HANDLE_COMPLEX_TYPES
#undef RUN_ARON_MACRO
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
bool AronTypeNlohmannJSONWriter::write##upperType##Type() \
-{ \
- AronTypeNlohmannJSONWriterTokenPtr token = stack.top(); \
- lowerType x = {}; \
- nlohmann::jsonPtr j = nlohmann::jsonPtr(new nlohmann::json(x)); \
- token->addElement(j); \
- return true; \
-}
+ { \
+ AronTypeNlohmannJSONWriterTokenPtr token = stack.top(); \
+ lowerType x = {}; \
+ nlohmann::json j(x); \
+ token->addElement(j); \
+ return true; \
+ }
-HANDLE_PRIMITIVE_TYPES
+ HANDLE_PRIMITIVE_TYPES
#undef RUN_ARON_MACRO
-}
-}
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.h
index 237b6fecf..8241d0c31 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.h
@@ -39,7 +39,7 @@ namespace armarx
namespace io
{
class AronTypeNlohmannJSONWriter :
- virtual public AronTypeClassWriter<nlohmann::jsonPtr, AronTypeNlohmannJSONWriterTokenPtr>
+ virtual public AronTypeClassWriter<nlohmann::json, AronTypeNlohmannJSONWriterTokenPtr>
{
public:
AronTypeNlohmannJSONWriter() = default;
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriterToken.h
index 88379e5f2..71c8d03a8 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriterToken.h
@@ -33,12 +33,6 @@
// ArmarX
#include <RobotAPI/libraries/aron/aroncore/AronConfig.h>
-
-namespace nlohmann
-{
- typedef std::shared_ptr<nlohmann::json> jsonPtr;
-}
-
namespace armarx
{
namespace aron
@@ -49,7 +43,7 @@ namespace armarx
typedef std::shared_ptr<AronTypeNlohmannJSONWriterToken> AronTypeNlohmannJSONWriterTokenPtr;
class AronTypeNlohmannJSONWriterToken :
- virtual public AronTypeClassWriterToken<nlohmann::jsonPtr>
+ virtual public AronTypeClassWriterToken<nlohmann::json, nlohmann::json>
{
public:
using PointerType = AronTypeNlohmannJSONWriterTokenPtr;
@@ -57,36 +51,36 @@ namespace armarx
public:
// constructor
AronTypeNlohmannJSONWriterToken() = delete;
- AronTypeNlohmannJSONWriterToken(const AronTypeDescriptor desc, const nlohmann::jsonPtr& t) :
- AronWriterToken<AronTypeDescriptor, nlohmann::jsonPtr>(desc, t),
- AronTypeClassWriterToken<nlohmann::jsonPtr>(desc, t)
+ AronTypeNlohmannJSONWriterToken(const AronTypeDescriptor desc, const nlohmann::json& t) :
+ AronWriterToken<AronTypeDescriptor, nlohmann::json, nlohmann::json>(desc, t),
+ AronTypeClassWriterToken<nlohmann::json, nlohmann::json>(desc, t)
{
}
// virtual member functions
- virtual void addElement(const nlohmann::jsonPtr& n) override
+ virtual void addElement(const nlohmann::json& n) override
{
auto desc = getDescriptor();
switch (desc)
{
case eAronDictType:
{
- (*getElement())["ARON_DICT_ACCEPTED_TYPE"] = (*n);
+ element["ARON_DICT_ACCEPTED_TYPE"] = n;
break;
}
case eAronListType:
{
- (*getElement())["ARON_LIST_ACCEPTED_TYPE"] = (*n);
+ element["ARON_LIST_ACCEPTED_TYPE"] = n;
break;
}
case eAronObjectType:
{
- (*getElement())[currentKey] = (*n);
+ element[currentKey] = n;
break;
}
case eAronTupleType:
{
- (*getElement()).push_back(*n);
+ element.push_back(n);
break;
}
default:
@@ -103,7 +97,7 @@ namespace armarx
{
throw exception::AronTypeDescriptorNotValidException("AronTypeNlohmannJSONWriterToken", "setName", "Cant set the name of a non-object token.", desc);
}
- (*getElement())["OBJECT_NAME"] = n;
+ element["OBJECT_NAME"] = n;
}
};
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/RapidXMLWriter/AronTypeRapidXMLWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/RapidXMLWriter/AronTypeRapidXMLWriterToken.h
index fd2b4398f..c33498ad8 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/RapidXMLWriter/AronTypeRapidXMLWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/RapidXMLWriter/AronTypeRapidXMLWriterToken.h
@@ -36,8 +36,6 @@
namespace armarx
{
- typedef std::shared_ptr<RapidXmlReaderNode> RapidXmlReaderNodePtr;
-
namespace aron
{
namespace io
@@ -46,7 +44,7 @@ namespace armarx
typedef std::shared_ptr<AronTypeRapidXMLWriterToken> AronTypeRapidXMLWriterTokenPtr;
class AronTypeRapidXMLWriterToken :
- virtual public AronTypeClassWriterToken<RapidXmlReaderNodePtr>
+ virtual public AronTypeClassWriterToken<RapidXmlReaderNode, RapidXmlReaderNode>
{
public:
using PointerType = AronTypeRapidXMLWriterTokenPtr;
@@ -54,14 +52,14 @@ namespace armarx
public:
// constructor
AronTypeRapidXMLWriterToken() = delete;
- AronTypeRapidXMLWriterToken(const AronTypeDescriptor desc, const RapidXmlReaderNodePtr& t) :
- AronWriterToken<AronTypeDescriptor, RapidXmlReaderNodePtr>(desc, t),
- AronTypeClassWriterToken<RapidXmlReaderNodePtr>(desc, t)
+ AronTypeRapidXMLWriterToken(const AronTypeDescriptor desc, const RapidXmlReaderNode& t) :
+ AronWriterToken<AronTypeDescriptor, RapidXmlReaderNode, RapidXmlReaderNode>(desc, t),
+ AronTypeClassWriterToken<RapidXmlReaderNode, RapidXmlReaderNode>(desc, t)
{
}
// virtual member functions
- virtual void addElement(const RapidXmlReaderNodePtr& n) override
+ virtual void addElement(const RapidXmlReaderNode& n) override
{
auto desc = getDescriptor();
switch (desc)
@@ -88,7 +86,7 @@ namespace armarx
}
// name functions
- void setName(const std::string& n)
+ void setName(const std::string& n) override
{
auto desc = getDescriptor();
if (desc != AronTypeDescriptor::eAronObjectType)
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronWriterToken.h b/source/RobotAPI/libraries/aron/aroncore/io/AronWriterToken.h
index 9bda546c9..f2621ee03 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronWriterToken.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronWriterToken.h
@@ -38,13 +38,13 @@ namespace armarx
{
namespace io
{
- template<typename AronDescriptorTypename, typename ElementTypename>
+ template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
class AronWriterToken;
- template<typename AronDescriptorTypename, typename ElementTypename>
- using AronWriterTokenPtr = std::shared_ptr<AronWriterToken<AronDescriptorTypename, ElementTypename>> ;
+ template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
+ using AronWriterTokenPtr = std::shared_ptr<AronWriterToken<AronDescriptorTypename, ElementTypename, ElementAddTypename>> ;
- template<typename AronDescriptorTypename, typename ElementTypename>
+ template<typename AronDescriptorTypename, typename ElementTypename, typename ElementAddTypename>
class AronWriterToken
{
public:
@@ -55,7 +55,7 @@ namespace armarx
};
// virtual definitions
- virtual void addElement(const ElementTypename&) = 0;
+ virtual void addElement(const ElementAddTypename&) = 0;
virtual std::string toElementAccessor() const = 0;
void setCurrentKey(const std::string& s)
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
index 08f001f7e..93347c1e8 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
@@ -96,12 +96,10 @@ namespace armarx
public:
using PointerType = AronContainerDataNavigatorPtr;
- // constructors
- AronContainerDataNavigator() = delete;
- AronContainerDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
- AronDataNavigator(d, p)
+ static AronContainerDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n)
{
-
+ AronContainerDataNavigatorPtr casted = std::dynamic_pointer_cast<AronContainerDataNavigator>(n);
+ return casted;
}
};
@@ -114,12 +112,10 @@ namespace armarx
public:
using PointerType = AronComplexDataNavigatorPtr;
- // constructors
- AronComplexDataNavigator() = delete;
- AronComplexDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
- AronDataNavigator(d, p)
+ static AronComplexDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n)
{
-
+ AronComplexDataNavigatorPtr casted = std::dynamic_pointer_cast<AronComplexDataNavigator>(n);
+ return casted;
}
};
@@ -132,12 +128,10 @@ namespace armarx
public:
using PointerType = AronPrimitiveDataNavigatorPtr;
- // constructors
- AronPrimitiveDataNavigator() = delete;
- AronPrimitiveDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
- AronDataNavigator(d, p)
+ static AronPrimitiveDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n)
{
-
+ AronPrimitiveDataNavigatorPtr casted = std::dynamic_pointer_cast<AronPrimitiveDataNavigator>(n);
+ return casted;
}
};
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
index 43f756bba..5fb9ab6b2 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
@@ -37,10 +37,16 @@ namespace armarx
{
// constructors
+ AronDictDataNavigator::AronDictDataNavigator(const AronPath& path) :
+ AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronDict, path),
+ AronDataNavigator(AronDataDescriptor::eAronDict, path),
+ aron(new data::AronDict())
+ {
+ }
+
AronDictDataNavigator::AronDictDataNavigator(const data::AronDictPtr& o, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronDict, path),
AronDataNavigator(AronDataDescriptor::eAronDict, path),
- AronContainerDataNavigator(AronDataDescriptor::eAronDict, path),
aron(o)
{
CheckAronPtrForNull("AronDictDataNavigator", "AronDictDataNavigator", getPath(), aron);
@@ -51,14 +57,20 @@ namespace armarx
}
}
- AronDictDataNavigator::AronDictDataNavigator(const AronPath& path) :
- AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronDict, path),
- AronDataNavigator(AronDataDescriptor::eAronDict, path),
- AronContainerDataNavigator(AronDataDescriptor::eAronDict, path),
- aron(new data::AronDict())
+ AronDictDataNavigator::AronDictDataNavigator(const data::AronDataDict& d, const AronPath& path) :
+ AronDictDataNavigator(data::AronDictPtr(new data::AronDict(d)), path)
{
}
+ AronDictDataNavigator::AronDictDataNavigator(const std::map<std::string, AronDataNavigatorPtr>& m, const AronPath& path) :
+ AronDictDataNavigator(path)
+ {
+ for (const auto& [key, dataPtr] : m)
+ {
+ addElement(key, dataPtr);
+ }
+ }
+
// static methods
AronDictDataNavigatorPtr AronDictDataNavigator::DynamicCast(const AronDataNavigatorPtr& n)
{
@@ -98,10 +110,26 @@ namespace armarx
return it->second;
}
+ std::map<std::string, AronDataNavigatorPtr> AronDictDataNavigator::getElements() const
+ {
+ return childrenNavigators;
+ }
+
+ void AronDictDataNavigator::clear()
+ {
+ childrenNavigators.clear();
+ aron->elements.clear();
+ }
+
+ data::AronDictPtr AronDictDataNavigator::getCastedResult() const
+ {
+ return aron;
+ }
+
// virtual implementations
data::AronDataPtr AronDictDataNavigator::getResult() const
{
- return aron;
+ return getCastedResult();
}
std::string AronDictDataNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
index 287718efe..5f23aa515 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
@@ -51,6 +51,8 @@ namespace armarx
// constructors
AronDictDataNavigator(const AronPath& path = AronPath());
AronDictDataNavigator(const data::AronDictPtr&, const AronPath& path = AronPath());
+ AronDictDataNavigator(const data::AronDataDict&, const AronPath& path = AronPath());
+ AronDictDataNavigator(const std::map<std::string, AronDataNavigatorPtr>&, const AronPath& path = AronPath());
// static methods
static AronDictDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n);
@@ -59,6 +61,10 @@ namespace armarx
std::vector<std::string> getAllKeys() const;
void addElement(const std::string& key, const AronDataNavigatorPtr&);
AronDataNavigatorPtr getElement(const std::string&) const;
+ std::map<std::string, AronDataNavigatorPtr> getElements() const;
+ void clear();
+
+ data::AronDictPtr getCastedResult() const;
// virtual implementations
virtual data::AronDataPtr getResult() const override;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
index 63e084008..4db8327fe 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
@@ -36,10 +36,16 @@ namespace armarx
namespace datanavigator
{
// constructors
+ AronListDataNavigator::AronListDataNavigator(const AronPath& path) :
+ AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronList, path),
+ AronDataNavigator(AronDataDescriptor::eAronList, path),
+ aron(new data::AronList())
+ {
+ }
+
AronListDataNavigator::AronListDataNavigator(const data::AronListPtr& l, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronList, path),
AronDataNavigator(AronDataDescriptor::eAronList, path),
- AronContainerDataNavigator(AronDataDescriptor::eAronList, path),
aron(l)
{
CheckAronPtrForNull("AronListDataNavigator", "AronListDataNavigator", getPath(), aron);
@@ -51,12 +57,18 @@ namespace armarx
}
}
- AronListDataNavigator::AronListDataNavigator(const AronPath& path) :
- AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronList, path),
- AronDataNavigator(AronDataDescriptor::eAronList, path),
- AronContainerDataNavigator(AronDataDescriptor::eAronList, path),
- aron(new data::AronList())
+ AronListDataNavigator::AronListDataNavigator(const data::AronDataList& d, const AronPath& path) :
+ AronListDataNavigator(data::AronListPtr(new data::AronList(d)), path)
+ {
+ }
+
+ AronListDataNavigator::AronListDataNavigator(const std::vector<AronDataNavigatorPtr>& n, const AronPath& path) :
+ AronListDataNavigator(path)
{
+ for (const auto& dataPtr : n)
+ {
+ addElement(dataPtr);
+ }
}
// static methods
@@ -82,10 +94,26 @@ namespace armarx
return childrenNavigators[i];
}
+ std::vector<AronDataNavigatorPtr> AronListDataNavigator::getElements() const
+ {
+ return childrenNavigators;
+ }
+
+ void AronListDataNavigator::clear()
+ {
+ childrenNavigators.clear();
+ aron->elements.clear();
+ }
+
+ data::AronListPtr AronListDataNavigator::getCastedResult() const
+ {
+ return aron;
+ }
+
// virtual implementations
data::AronDataPtr AronListDataNavigator::getResult() const
{
- return aron;
+ return getCastedResult();
}
std::string AronListDataNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
index 2a7ea718f..03151c2cf 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
@@ -50,6 +50,8 @@ namespace armarx
// constructors
AronListDataNavigator(const AronPath& path = AronPath());
AronListDataNavigator(const data::AronListPtr&, const AronPath& path = AronPath());
+ AronListDataNavigator(const data::AronDataList&, const AronPath& path = AronPath());
+ AronListDataNavigator(const std::vector<AronDataNavigatorPtr>&, const AronPath& path = AronPath());
// static methods
static AronListDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n);
@@ -57,6 +59,10 @@ namespace armarx
// public member functions
void addElement(const AronDataNavigatorPtr&);
AronDataNavigatorPtr getElement(unsigned int) const;
+ std::vector<AronDataNavigatorPtr> getElements() const;
+ void clear();
+
+ data::AronListPtr getCastedResult() const;
// virtual implementations
virtual data::AronDataPtr getResult() const override;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
index 5c748218f..13ef492d7 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
@@ -39,22 +39,27 @@ namespace armarx
namespace datanavigator
{
// constructors
- AronNDArrayDataNavigator::AronNDArrayDataNavigator(const data::AronNDArrayPtr& o, const AronPath& path) :
+ AronNDArrayDataNavigator::AronNDArrayDataNavigator(const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronNDArray, path),
AronDataNavigator(AronDataDescriptor::eAronNDArray, path),
- AronComplexDataNavigator(AronDataDescriptor::eAronNDArray, path),
- aron(o)
+ aron(new data::AronNDArray())
{
- CheckAronPtrForNull("AronNDArrayDataNavigator", "AronNDArrayDataNavigator", getPath(), aron);
+
}
- AronNDArrayDataNavigator::AronNDArrayDataNavigator(const AronPath& path) :
+ AronNDArrayDataNavigator::AronNDArrayDataNavigator(const data::AronNDArrayPtr& o, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronNDArray, path),
AronDataNavigator(AronDataDescriptor::eAronNDArray, path),
- AronComplexDataNavigator(AronDataDescriptor::eAronNDArray, path),
- aron(new data::AronNDArray())
+ aron(o)
{
+ CheckAronPtrForNull("AronNDArrayDataNavigator", "AronNDArrayDataNavigator", getPath(), aron);
+ }
+
+
+ AronNDArrayDataNavigator::AronNDArrayDataNavigator(const std::vector<int>& dim, const std::string& t, const std::vector<unsigned char>& data, const AronPath& path) :
+ AronNDArrayDataNavigator(data::AronNDArrayPtr(new data::AronNDArray(dim, t, data)), path)
+ {
}
// static methods
@@ -106,10 +111,15 @@ namespace armarx
aron->type = t;
}
+ data::AronNDArrayPtr AronNDArrayDataNavigator::getCastedResult() const
+ {
+ return aron;
+ }
+
// virtual implementations
data::AronDataPtr AronNDArrayDataNavigator::getResult() const
{
- return aron;
+ return getCastedResult();
}
std::string AronNDArrayDataNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
index 3a32dd987..b5182d9d3 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
@@ -50,6 +50,7 @@ namespace armarx
// constructors
AronNDArrayDataNavigator(const AronPath& path = AronPath());
AronNDArrayDataNavigator(const data::AronNDArrayPtr&, const AronPath& path = AronPath());
+ AronNDArrayDataNavigator(const std::vector<int>&, const std::string&, const std::vector<unsigned char>&, const AronPath& path = AronPath());
// static methods
static AronNDArrayDataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n);
@@ -65,6 +66,8 @@ namespace armarx
std::string getType() const;
void setType(const std::string&);
+ data::AronNDArrayPtr getCastedResult() const;
+
// virtual implementations
virtual data::AronDataPtr getResult() const override;
virtual std::string getName() const override;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
index a1c14461a..7a2e1f755 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
@@ -35,22 +35,25 @@ namespace armarx
{
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
/* constructors */ \
- Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const AronPath& path) : \
+ Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const data::Aron##upperType##Ptr& o, const AronPath& path) : \
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAron##upperType, path), \
AronDataNavigator(AronDataDescriptor::eAron##upperType, path), \
- AronPrimitiveDataNavigator(AronDataDescriptor::eAron##upperType, path), \
- aron(new data::Aron##upperType()) \
+ aron(o) \
{ \
- aron->value = {}; \
} \
- Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const data::Aron##upperType##Ptr& o, const AronPath& path) : \
+ \
+ Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const AronPath& path) : \
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAron##upperType, path), \
AronDataNavigator(AronDataDescriptor::eAron##upperType, path), \
- AronPrimitiveDataNavigator(AronDataDescriptor::eAron##upperType, path), \
- aron(o) \
+ aron(new data::Aron##upperType()) \
{ \
+ aron->value = {}; \
} \
\
+ Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const lowerType& d, const AronPath& path) : \
+ Aron##upperType##DataNavigator(data::Aron##upperType##Ptr(new data::Aron##upperType(d)), path) \
+ { \
+ } \
/* static methods */ \
Aron##upperType##DataNavigatorPtr Aron##upperType##DataNavigator::DynamicCast(const AronDataNavigatorPtr& n) \
{ \
@@ -69,10 +72,15 @@ namespace armarx
return aron->value; \
} \
\
+ data::Aron##upperType##Ptr Aron##upperType##DataNavigator::getCastedResult() const \
+ { \
+ return aron; \
+ } \
+ \
/* virtual implementations */ \
data::AronDataPtr Aron##upperType##DataNavigator::getResult() const \
{ \
- return aron; \
+ return getCastedResult(); \
} \
\
std::string Aron##upperType##DataNavigator::getName() const \
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
index 2dc5f7a58..8a0ee59da 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
@@ -50,6 +50,7 @@ namespace armarx
/* constructors */ \
Aron##upperType##DataNavigator(const AronPath& = AronPath()); \
Aron##upperType##DataNavigator(const data::Aron##upperType##Ptr&, const AronPath& = AronPath()); \
+ Aron##upperType##DataNavigator(const lowerType&, const AronPath& = AronPath()); \
\
/* static methods */ \
static Aron##upperType##DataNavigatorPtr DynamicCast(const AronDataNavigatorPtr& n); \
@@ -58,6 +59,8 @@ namespace armarx
void setValue(const lowerType& x); \
lowerType getValue() const; \
\
+ data::Aron##upperType##Ptr getCastedResult() const; \
+ \
/* virtual implementations */ \
virtual data::AronDataPtr getResult() const override; \
virtual std::string getName() const override; \
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.cpp
index 3b8fa8469..9d1ba674f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.cpp
@@ -35,7 +35,6 @@ namespace armarx
AronDictTypeNavigator::AronDictTypeNavigator(const AronPath& path) :
AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronDictType, path),
AronTypeNavigator(AronTypeDescriptor::eAronDictType, path),
- AronDictSerializerTypeNavigator(AronTypeDescriptor::eAronDictType, path),
type(new type::AronDictType())
{
@@ -44,7 +43,6 @@ namespace armarx
AronDictTypeNavigator::AronDictTypeNavigator(const type::AronDictTypePtr& o, const AronPath& path) :
AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronDictType, path),
AronTypeNavigator(AronTypeDescriptor::eAronDictType, path),
- AronDictSerializerTypeNavigator(AronTypeDescriptor::eAronDictType, path),
type(o)
{
CheckAronPtrForNull("AronDictTypeNavigator", "AronDictTypeNavigator", getPath(), o);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.h
index 1b73f1537..b633eab3b 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronDictTypeNavigator.h
@@ -51,6 +51,8 @@ namespace armarx
AronDictTypeNavigator(const AronPath& path);
AronDictTypeNavigator(const type::AronDictTypePtr&, const AronPath& path);
+ type::AronDictTypePtr getCastedResult() const;
+
// static methods
static AronDictTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.cpp
index 4aa1aa03a..d26786cd2 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.cpp
@@ -45,7 +45,6 @@ namespace armarx
AronEigenMatrixTypeNavigator::AronEigenMatrixTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
AronTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(new type::AronEigenMatrixType({1, 1}, ""))
{
}
@@ -53,7 +52,6 @@ namespace armarx
AronEigenMatrixTypeNavigator::AronEigenMatrixTypeNavigator(const type::AronEigenMatrixTypePtr& o, const AronPath& path) :
AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronDictType, path),
AronTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(o)
{
CheckAronPtrForNull("AronEigenMatrixTypeNavigator", "AronEigenMatrixTypeNavigator", getPath(), o);
@@ -91,6 +89,26 @@ namespace armarx
type->dimensions[1] = h;
}
+ type::AronEigenMatrixTypePtr AronEigenMatrixTypeNavigator::getCastedResult() const
+ {
+ if (type->dimensions.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getCastedResult", "The dimension eigen matrix is empty", getPath());
+ }
+ if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
+ {
+ return i < -1;
+ }))
+ {
+ throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getCastedResult", "The dimension size is wrong. At least one empty is <-1", getPath());
+ }
+ if (type->typeName.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getCastedResult", "The useType of eigen matrix is empty.", getPath());
+ }
+ return type;
+ }
+
std::string AronEigenMatrixTypeNavigator::getUsedType() const
{
return type->typeName;
@@ -147,22 +165,7 @@ namespace armarx
// virtual implementations
type::AronTypePtr AronEigenMatrixTypeNavigator::getResult() const
{
- if (type->dimensions.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getResult", "The dimension eigen matrix is empty", getPath());
- }
- if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
- {
- return i < -1;
- }))
- {
- throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getResult", "The dimension size is wrong. At least one empty is <-1", getPath());
- }
- if (type->typeName.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronEigenMatrixTypeNavigator", "getResult", "The useType of eigen matrix is empty.", getPath());
- }
- return type;
+ return getCastedResult();
}
std::string AronEigenMatrixTypeNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.h
index f5d2761b1..14a24b998 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronEigenMatrixTypeNavigator.h
@@ -58,6 +58,8 @@ namespace armarx
void setRows(const unsigned int&);
void setCols(const unsigned int&);
+ type::AronEigenMatrixTypePtr getCastedResult() const;
+
// static methods
static AronEigenMatrixTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.cpp
index b7b867ebe..49670a0c2 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.cpp
@@ -41,7 +41,6 @@ namespace armarx
AronIVTCByteImageTypeNavigator::AronIVTCByteImageTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronIVTCByteImageType, path),
AronTypeNavigator(AronTypeDescriptor::eAronIVTCByteImageType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(new type::AronIVTCByteImageType({0, 0}, ""))
{
}
@@ -49,7 +48,6 @@ namespace armarx
AronIVTCByteImageTypeNavigator::AronIVTCByteImageTypeNavigator(const type::AronIVTCByteImageTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronIVTCByteImageType, path),
AronTypeNavigator(AronTypeDescriptor::eAronIVTCByteImageType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(o)
{
CheckAronPtrForNull("AronIVTCByteImageTypeNavigator", "AronIVTCByteImageTypeNavigator", getPath(), o);
@@ -59,6 +57,26 @@ namespace armarx
}
}
+ type::AronIVTCByteImageTypePtr AronIVTCByteImageTypeNavigator::getCastedResult() const
+ {
+ if (type->dimensions.size() != 2)
+ {
+ throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getCastedResult", "The dimension size is wrong. Got size: " + std::to_string(type->dimensions.size()), getPath());
+ }
+ if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
+ {
+ return i <= 0;
+ }))
+ {
+ throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getCastedResult", "The dimension size is wrong. At least one empty is <=0", getPath());
+ }
+ if (type->typeName.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getCastedResult", "The useType of image is empty.", getPath());
+ }
+ return type;
+ }
+
std::vector<int> AronIVTCByteImageTypeNavigator::getDimensions() const
{
return type->dimensions;
@@ -137,22 +155,7 @@ namespace armarx
// virtual implementations
type::AronTypePtr AronIVTCByteImageTypeNavigator::getResult() const
{
- if (type->dimensions.size() != 2)
- {
- throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getResult", "The dimension size is wrong. Got size: " + std::to_string(type->dimensions.size()), getPath());
- }
- if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
- {
- return i <= 0;
- }))
- {
- throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getResult", "The dimension size is wrong. At least one empty is <=0", getPath());
- }
- if (type->typeName.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronIVTCByteImageTypeNavigator", "getResult", "The useType of image is empty.", getPath());
- }
- return type;
+ return getCastedResult();
}
std::string AronIVTCByteImageTypeNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.h
index 6a61e9f05..9d1ba206d 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronIVTCByteImageTypeNavigator.h
@@ -58,6 +58,8 @@ namespace armarx
void setWidth(const unsigned int&);
void setHeight(const unsigned int&);
+ type::AronIVTCByteImageTypePtr getCastedResult() const;
+
// static methods
static AronIVTCByteImageTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.cpp
index 2a1c787a4..34a31e435 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.cpp
@@ -34,7 +34,6 @@ namespace armarx
AronListTypeNavigator::AronListTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronListType, path),
AronTypeNavigator(AronTypeDescriptor::eAronListType, path),
- AronListSerializerTypeNavigator(AronTypeDescriptor::eAronListType, path),
type(new type::AronListType())
{
}
@@ -42,12 +41,37 @@ namespace armarx
AronListTypeNavigator::AronListTypeNavigator(const type::AronListTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronListType, path),
AronTypeNavigator(AronTypeDescriptor::eAronListType, path),
- AronListSerializerTypeNavigator(AronTypeDescriptor::eAronListType, path),
type(o)
{
CheckAronPtrForNull("AronListTypeNavigator", "AronListTypeNavigator", getPath(), o);
}
+ // static methods
+ AronListTypeNavigatorPtr AronListTypeNavigator::DynamicCast(const AronTypeNavigatorPtr& n)
+ {
+ CheckTypeNavigatorPtrForNull("AronListTypeNavigator", "DynamicCast[Before]", n);
+ AronListTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronListTypeNavigator>(n);
+ CheckTypeNavigatorPtrForNull("AronListTypeNavigator", "DynamicCast[After]", casted);
+ return casted;
+ }
+
+ type::AronListTypePtr AronListTypeNavigator::getCastedResult() const
+ {
+ CheckAronPtrForNull("AronListTypeNavigator", "getCastedResult", getPath(), type->acceptedType);
+ return type;
+ }
+
+ // virtual implementations
+ type::AronTypePtr AronListTypeNavigator::getResult() const
+ {
+ return getCastedResult();
+ }
+
+ std::string AronListTypeNavigator::getName() const
+ {
+ return "AronListType<" + acceptedTypeNavigator->getName() + ">";
+ }
+
void AronListTypeNavigator::addAcceptedType(const AronTypeNavigatorPtr&)
{
throw exception::AronExceptionWithPathInfo("AronListTypeNavigator", "addAcceptedType", "Called invalid function!", getPath());
@@ -69,27 +93,6 @@ namespace armarx
type->acceptedType = a->getResult();
acceptedTypeNavigator = a;
}
-
- // static methods
- AronListTypeNavigatorPtr AronListTypeNavigator::DynamicCast(const AronTypeNavigatorPtr& n)
- {
- CheckTypeNavigatorPtrForNull("AronListTypeNavigator", "DynamicCast[Before]", n);
- AronListTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronListTypeNavigator>(n);
- CheckTypeNavigatorPtrForNull("AronListTypeNavigator", "DynamicCast[After]", casted);
- return casted;
- }
-
- // virtual implementations
- type::AronTypePtr AronListTypeNavigator::getResult() const
- {
- CheckAronPtrForNull("AronListTypeNavigator", "getResult", getPath(), type->acceptedType);
- return type;
- }
-
- std::string AronListTypeNavigator::getName() const
- {
- return "AronListType<" + acceptedTypeNavigator->getName() + ">";
- }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.h
index 405107ff1..3982291ff 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronListTypeNavigator.h
@@ -51,6 +51,8 @@ namespace armarx
AronListTypeNavigator(const AronPath& path);
AronListTypeNavigator(const type::AronListTypePtr&, const AronPath& path);
+ type::AronListTypePtr getCastedResult() const;
+
// static methods
static AronListTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.cpp
index 13903d9e2..01b87e9f7 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.cpp
@@ -36,7 +36,6 @@ namespace armarx
AronObjectTypeNavigator::AronObjectTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronObjectType, path),
AronTypeNavigator(AronTypeDescriptor::eAronObjectType, path),
- AronDictSerializerTypeNavigator(AronTypeDescriptor::eAronObjectType, path),
type((new type::AronObjectType()))
{
}
@@ -44,7 +43,6 @@ namespace armarx
AronObjectTypeNavigator::AronObjectTypeNavigator(const type::AronObjectTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronObjectType, path),
AronTypeNavigator(AronTypeDescriptor::eAronObjectType, path),
- AronDictSerializerTypeNavigator(AronTypeDescriptor::eAronObjectType, path),
type(o)
{
CheckAronPtrForNull("AronObjectTypeNavigator", "AronObjectTypeNavigator", getPath(), o);
@@ -55,7 +53,7 @@ namespace armarx
{
CheckTypeNavigatorPtrForNull("AronObjectTypeNavigator", "DynamicCast[Before]", n);
AronObjectTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronObjectTypeNavigator>(n);
- CheckTypeNavigatorPtrForNull("AronObjectTypeNavigator", "DynamicCast[After]", casted);
+ CheckTypeNavigatorPtrForNull("AronObjectTypeNavigator", "DynamicCast[After]", n->getPath(), casted);
return casted;
}
@@ -110,8 +108,7 @@ namespace armarx
return extends;
}
- // virtual implementations
- type::AronTypePtr AronObjectTypeNavigator::getResult() const
+ type::AronObjectTypePtr AronObjectTypeNavigator::getCastedResult() const
{
if (type->objectName.empty())
{
@@ -124,6 +121,12 @@ namespace armarx
return type;
}
+ // virtual implementations
+ type::AronTypePtr AronObjectTypeNavigator::getResult() const
+ {
+ return getCastedResult();
+ }
+
std::string AronObjectTypeNavigator::getName() const
{
return "AronObjectType<" + type->objectName + ">";
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h
index 01cedad2f..e1fdc5ed2 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h
@@ -60,6 +60,8 @@ namespace armarx
void setObjectName(const std::string&);
void setExtends(const AronObjectTypeNavigatorPtr&);
+ type::AronObjectTypePtr getCastedResult() const;
+
// static methods
static AronObjectTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.cpp
index 75a0e9670..c165e101a 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.cpp
@@ -45,7 +45,6 @@ namespace armarx
AronOpenCVMatTypeNavigator::AronOpenCVMatTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronOpenCVMatType, path),
AronTypeNavigator(AronTypeDescriptor::eAronOpenCVMatType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(new type::AronOpenCVMatType({}, ""))
{
}
@@ -53,12 +52,31 @@ namespace armarx
AronOpenCVMatTypeNavigator::AronOpenCVMatTypeNavigator(const type::AronOpenCVMatTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronOpenCVMatType, path),
AronTypeNavigator(AronTypeDescriptor::eAronOpenCVMatType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(o)
{
CheckAronPtrForNull("AronOpenCVMatTypeNavigator", "AronOpenCVMatTypeNavigator", getPath(), o);
}
+ type::AronOpenCVMatTypePtr AronOpenCVMatTypeNavigator::getCastedResult() const
+ {
+ if (type->dimensions.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getCastedResult", "The dimension size is empty", getPath());
+ }
+ if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
+ {
+ return i < -1;
+ }))
+ {
+ throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getCastedResult", "The dimension size is wrong. At least one empty is <-1", getPath());
+ }
+ if (type->typeName.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getCastedResult", "The useType of image is empty.", getPath());
+ }
+ return type;
+ }
+
std::string AronOpenCVMatTypeNavigator::getUsedType() const
{
return type->typeName;
@@ -116,22 +134,7 @@ namespace armarx
// virtual implementations
type::AronTypePtr AronOpenCVMatTypeNavigator::getResult() const
{
- if (type->dimensions.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getResult", "The dimension size is empty", getPath());
- }
- if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
- {
- return i < -1;
- }))
- {
- throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getResult", "The dimension size is wrong. At least one empty is <-1", getPath());
- }
- if (type->typeName.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronOpenCVMatTypeNavigator", "getResult", "The useType of image is empty.", getPath());
- }
- return type;
+ return getCastedResult();
}
std::string AronOpenCVMatTypeNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.h
index e7972a202..2af188f76 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronOpenCVMatTypeNavigator.h
@@ -52,6 +52,8 @@ namespace armarx
AronOpenCVMatTypeNavigator(const AronPath& path);
AronOpenCVMatTypeNavigator(const type::AronOpenCVMatTypePtr&, const AronPath& path);
+ type::AronOpenCVMatTypePtr getCastedResult() const;
+
// static methods
static AronOpenCVMatTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.cpp
index 21461a559..a1bf3e4e1 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.cpp
@@ -45,7 +45,6 @@ namespace armarx
AronPCLPointCloudTypeNavigator::AronPCLPointCloudTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronPCLPointCloudType, path),
AronTypeNavigator(AronTypeDescriptor::eAronPCLPointCloudType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(new type::AronPCLPointCloudType({0, 0}, ""))
{
}
@@ -53,12 +52,31 @@ namespace armarx
AronPCLPointCloudTypeNavigator::AronPCLPointCloudTypeNavigator(const type::AronPCLPointCloudTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronPCLPointCloudType, path),
AronTypeNavigator(AronTypeDescriptor::eAronPCLPointCloudType, path),
- AronNDArraySerializerTypeNavigator(AronTypeDescriptor::eAronEigenMatrixType, path),
type(o)
{
CheckAronPtrForNull("AronPCLPointCloudTypeNavigator", "AronPCLPointCloudTypeNavigator", getPath(), o);
}
+ type::AronPCLPointCloudTypePtr AronPCLPointCloudTypeNavigator::getCastedResult() const
+ {
+ if (type->dimensions.size() != 2)
+ {
+ throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getCastedResult", "The dimension size is wrong. Got size: " + std::to_string(type->dimensions.size()), getPath());
+ }
+ if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
+ {
+ return i <= 0;
+ }))
+ {
+ throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getCastedResult", "The dimension size is wrong. At least one empty is <=0", getPath());
+ }
+ if (type->typeName.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getCastedResult", "The useType of image is empty.", getPath());
+ }
+ return type;
+ }
+
std::vector<int> AronPCLPointCloudTypeNavigator::getDimensions() const
{
return type->dimensions;
@@ -137,22 +155,7 @@ namespace armarx
// virtual implementations
type::AronTypePtr AronPCLPointCloudTypeNavigator::getResult() const
{
- if (type->dimensions.size() != 2)
- {
- throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getResult", "The dimension size is wrong. Got size: " + std::to_string(type->dimensions.size()), getPath());
- }
- if (std::any_of(type->dimensions.begin(), type->dimensions.end(), [](int i)
- {
- return i <= 0;
- }))
- {
- throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getResult", "The dimension size is wrong. At least one empty is <=0", getPath());
- }
- if (type->typeName.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronPCLPointCloudTypeNavigator", "getResult", "The useType of image is empty.", getPath());
- }
- return type;
+ return getCastedResult();
}
std::string AronPCLPointCloudTypeNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.h
index 22643da1e..ae22bfcae 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPCLPointCloudTypeNavigator.h
@@ -58,6 +58,8 @@ namespace armarx
void setWidth(const unsigned int&);
void setHeight(const unsigned int&);
+ type::AronPCLPointCloudTypePtr getCastedResult() const;
+
// static methods
static AronPCLPointCloudTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.cpp
index b88cd7cff..d3eb95da6 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.cpp
@@ -55,6 +55,11 @@ namespace armarx
CheckAronPtrForNull("Aron" + std::string(#upperType) + "TypeNavigator", "Aron" + std::string(#upperType) + "TypeNavigator", getPath(), o); \
} \
\
+ type::Aron##upperType##TypePtr Aron##upperType##TypeNavigator::getCastedResult() const \
+ { \
+ return type; \
+ } \
+ \
/* static methods */ \
Aron##upperType##TypeNavigatorPtr Aron##upperType##TypeNavigator::DynamicCast(const AronTypeNavigatorPtr& n) \
{\
@@ -67,7 +72,7 @@ namespace armarx
/* virtual implementations */\
type::AronTypePtr Aron##upperType##TypeNavigator::getResult() const\
{\
- return type; \
+ return getCastedResult(); \
}\
\
std::string Aron##upperType##TypeNavigator::getName() const \
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.h
index df3751920..deaebb49c 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronPrimitiveTypeNavigator.h
@@ -44,7 +44,7 @@ namespace armarx
typedef std::shared_ptr<Aron##upperType##TypeNavigator> Aron##upperType##TypeNavigatorPtr; \
\
class Aron##upperType##TypeNavigator : \
- virtual public AronTypeNavigator \
+ virtual public AronPrimitiveTypeNavigator \
{ \
public: \
using PointerType = Aron##upperType##TypeNavigatorPtr; \
@@ -54,6 +54,8 @@ namespace armarx
Aron##upperType##TypeNavigator(const AronPath&); \
Aron##upperType##TypeNavigator(const type::Aron##upperType##TypePtr&, const AronPath&); \
\
+ type::Aron##upperType##TypePtr getCastedResult() const; \
+ \
/* static methods */ \
static Aron##upperType##TypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr&); \
\
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.cpp
index cf6e74db3..b0b463456 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.cpp
@@ -35,7 +35,6 @@ namespace armarx
AronTupleTypeNavigator::AronTupleTypeNavigator(const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronTupleType, path),
AronTypeNavigator(AronTypeDescriptor::eAronTupleType, path),
- AronListSerializerTypeNavigator(AronTypeDescriptor::eAronTupleType, path),
type(new type::AronTupleType())
{
}
@@ -43,12 +42,20 @@ namespace armarx
AronTupleTypeNavigator::AronTupleTypeNavigator(const type::AronTupleTypePtr& o, const AronPath& path) :
navigator::AronNavigator<AronTypeDescriptor, type::AronType>::AronNavigator(AronTypeDescriptor::eAronTupleType, path),
AronTypeNavigator(AronTypeDescriptor::eAronTupleType, path),
- AronListSerializerTypeNavigator(AronTypeDescriptor::eAronTupleType, path),
type(o)
{
CheckAronPtrForNull("AronTupleTypeNavigator", "AronTupleTypeNavigator", getPath(), o);
}
+ type::AronTupleTypePtr AronTupleTypeNavigator::getCastedResult() const
+ {
+ if (acceptedTypeNavigators.empty())
+ {
+ throw exception::AronExceptionWithPathInfo("AronTupleTypeNavigator", "getCastedResult", "No accepted types set", getPath());
+ }
+ return type;
+ }
+
// static methods
AronTupleTypeNavigatorPtr AronTupleTypeNavigator::DynamicCast(const AronTypeNavigatorPtr& n)
{
@@ -84,11 +91,7 @@ namespace armarx
// virtual implementations
type::AronTypePtr AronTupleTypeNavigator::getResult() const
{
- if (acceptedTypeNavigators.empty())
- {
- throw exception::AronExceptionWithPathInfo("AronTupleTypeNavigator", "getResult", "No accepted types set", getPath());
- }
- return type;
+ return getCastedResult();
}
std::string AronTupleTypeNavigator::getName() const
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.h
index eadb63178..0435f61c8 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTupleTypeNavigator.h
@@ -52,6 +52,8 @@ namespace armarx
AronTupleTypeNavigator(const AronPath& path);
AronTupleTypeNavigator(const type::AronTupleTypePtr&, const AronPath& path);
+ type::AronTupleTypePtr getCastedResult() const;
+
// static methods
static AronTupleTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTypeNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTypeNavigator.h
index a584dfd5c..6de37ba39 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTypeNavigator.h
@@ -85,23 +85,34 @@ namespace armarx
};
+ class AronContainerTypeNavigator;
+ typedef std::shared_ptr<AronContainerTypeNavigator> AronContainerTypeNavigatorPtr;
+
+ class AronContainerTypeNavigator :
+ virtual public AronTypeNavigator
+ {
+ public:
+ using PointerType = AronContainerTypeNavigatorPtr;
+
+ // static methods
+ static AronContainerTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
+ {
+ AronContainerTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronContainerTypeNavigator>(n);
+ return casted;
+ }
+ };
class AronDictSerializerTypeNavigator;
typedef std::shared_ptr<AronDictSerializerTypeNavigator> AronDictSerializerTypeNavigatorPtr;
class AronDictSerializerTypeNavigator :
- virtual public AronTypeNavigator
+ virtual public AronContainerTypeNavigator
{
public:
using PointerType = AronDictSerializerTypeNavigatorPtr;
public:
- AronDictSerializerTypeNavigator() = delete;
- AronDictSerializerTypeNavigator(const AronTypeDescriptor& n, const AronPath& path) :
- AronTypeNavigator(n, path)
- {}
-
// virtual methods
virtual void setAcceptedType(const AronTypeNavigatorPtr&) = 0;
virtual void addAcceptedType(const std::string&, const AronTypeNavigatorPtr&) = 0;
@@ -112,9 +123,7 @@ namespace armarx
// static methods
static AronDictSerializerTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
{
- CheckTypeNavigatorPtrForNull("AronDictSerializerTypeNavigator", "DynamicCast[Before]", n);
AronDictSerializerTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronDictSerializerTypeNavigator>(n);
- CheckTypeNavigatorPtrForNull("AronDictSerializerTypeNavigator", "DynamicCast[After]", casted);
return casted;
}
};
@@ -125,17 +134,12 @@ namespace armarx
typedef std::shared_ptr<AronListSerializerTypeNavigator> AronListSerializerTypeNavigatorPtr;
class AronListSerializerTypeNavigator :
- virtual public AronTypeNavigator
+ virtual public AronContainerTypeNavigator
{
public:
using PointerType = AronListSerializerTypeNavigatorPtr;
public:
- AronListSerializerTypeNavigator() = delete;
- AronListSerializerTypeNavigator(const AronTypeDescriptor& n, const AronPath& path) :
- AronTypeNavigator(n, path)
- {}
-
// virtual methods
virtual void setAcceptedType(const AronTypeNavigatorPtr&) = 0;
virtual void addAcceptedType(const AronTypeNavigatorPtr&) = 0;
@@ -146,30 +150,40 @@ namespace armarx
// static methods
static AronListSerializerTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
{
- CheckTypeNavigatorPtrForNull("AronListSerializerTypeNavigator", "DynamicCast[Before]", n);
AronListSerializerTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronListSerializerTypeNavigator>(n);
- CheckTypeNavigatorPtrForNull("AronListSerializerTypeNavigator", "DynamicCast[After]", casted);
return casted;
}
};
+ class AronComplexTypeNavigator;
+ typedef std::shared_ptr<AronComplexTypeNavigator> AronComplexTypeNavigatorPtr;
+
+ class AronComplexTypeNavigator :
+ virtual public AronTypeNavigator
+ {
+ public:
+ using PointerType = AronComplexTypeNavigatorPtr;
+
+ // static methods
+ static AronComplexTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
+ {
+ AronComplexTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronComplexTypeNavigator>(n);
+ return casted;
+ }
+ };
+
class AronNDArraySerializerTypeNavigator;
typedef std::shared_ptr<AronNDArraySerializerTypeNavigator> AronNDArraySerializerTypeNavigatorPtr;
class AronNDArraySerializerTypeNavigator :
- virtual public AronTypeNavigator
+ virtual public AronComplexTypeNavigator
{
public:
using PointerType = AronNDArraySerializerTypeNavigatorPtr;
public:
- AronNDArraySerializerTypeNavigator() = delete;
- AronNDArraySerializerTypeNavigator(const AronTypeDescriptor& n, const AronPath& path) :
- AronTypeNavigator(n, path)
- {}
-
// virtual methods
virtual void setDimensions(const std::vector<int>&) = 0;
virtual void setUsedType(const std::string&) = 0;
@@ -180,9 +194,25 @@ namespace armarx
// static methods
static AronNDArraySerializerTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
{
- CheckTypeNavigatorPtrForNull("AronNDArraySerializerTypeNavigator", "DynamicCast[Before]", n);
AronNDArraySerializerTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronNDArraySerializerTypeNavigator>(n);
- CheckTypeNavigatorPtrForNull("AronNDArraySerializerTypeNavigator", "DynamicCast[After]", casted);
+ return casted;
+ }
+ };
+
+
+ class AronPrimitiveTypeNavigator;
+ typedef std::shared_ptr<AronPrimitiveTypeNavigator> AronPrimitiveTypeNavigatorPtr;
+
+ class AronPrimitiveTypeNavigator :
+ virtual public AronTypeNavigator
+ {
+ public:
+ using PointerType = AronPrimitiveTypeNavigatorPtr;
+
+ // static methods
+ static AronPrimitiveTypeNavigatorPtr DynamicCast(const AronTypeNavigatorPtr& n)
+ {
+ AronPrimitiveTypeNavigatorPtr casted = std::dynamic_pointer_cast<AronPrimitiveTypeNavigator>(n);
return casted;
}
};
diff --git a/source/RobotAPI/libraries/aron/aroncore/test/aronDataWithoutCodeGeneration.h b/source/RobotAPI/libraries/aron/aroncore/test/aronDataWithoutCodeGeneration.h
index ce409513f..67fd71120 100644
--- a/source/RobotAPI/libraries/aron/aroncore/test/aronDataWithoutCodeGeneration.h
+++ b/source/RobotAPI/libraries/aron/aroncore/test/aronDataWithoutCodeGeneration.h
@@ -59,24 +59,24 @@ namespace armarx
w.readEndDict();
}
- armarx::aron::datanavigator::AronDataNavigatorPtr toAron() const
+ armarx::aron::datanavigator::AronDictDataNavigatorPtr toAron() const
{
armarx::aron::io::AronDataNavigatorWriter writer;
this->write(writer);
- return writer.getResult();
+ return armarx::aron::datanavigator::AronDictDataNavigator::DynamicCast(writer.getResult());
}
- void fromAron(const armarx::aron::datanavigator::AronDataNavigatorPtr& input)
+ void fromAron(const armarx::aron::datanavigator::AronDictDataNavigatorPtr& input)
{
armarx::aron::io::AronDataNavigatorReader reader(input);
//this->read(reader);
}
- armarx::aron::typenavigator::AronTypeNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::AronObjectTypeNavigatorPtr toInitialAronType() const
{
armarx::aron::io::AronTypeNavigatorWriter writer;
this->writeType(writer);
- return writer.getResult();
+ return armarx::aron::typenavigator::AronObjectTypeNavigator::DynamicCast(writer.getResult());
}
};
@@ -144,24 +144,24 @@ namespace armarx
}
- armarx::aron::datanavigator::AronDataNavigatorPtr toAron() const
+ armarx::aron::datanavigator::AronDictDataNavigatorPtr toAron() const
{
armarx::aron::io::AronDataNavigatorWriter writer;
this->write(writer);
- return writer.getResult();
+ return armarx::aron::datanavigator::AronDictDataNavigator::DynamicCast(writer.getResult());
}
- void fromAron(const armarx::aron::datanavigator::AronDataNavigatorPtr& input)
+ void fromAron(const armarx::aron::datanavigator::AronDictDataNavigatorPtr& input)
{
//armarx::aron::io::AronDataNavigatorReader reader(input);
//this->read(reader);
}
- armarx::aron::typenavigator::AronTypeNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::AronObjectTypeNavigatorPtr toInitialAronType() const
{
armarx::aron::io::AronTypeNavigatorWriter writer;
this->writeType(writer);
- return writer.getResult();
+ return armarx::aron::typenavigator::AronObjectTypeNavigator::DynamicCast(writer.getResult());
}
};
@@ -267,24 +267,24 @@ namespace armarx
w.readEndDict();
}
- armarx::aron::datanavigator::AronDataNavigatorPtr toAron() const
+ armarx::aron::datanavigator::AronDictDataNavigatorPtr toAron() const
{
armarx::aron::io::AronDataNavigatorWriter writer;
this->write(writer);
- return writer.getResult();
+ return armarx::aron::datanavigator::AronDictDataNavigator::DynamicCast(writer.getResult());
}
- void fromAron(const armarx::aron::datanavigator::AronDataNavigatorPtr& input)
+ void fromAron(const armarx::aron::datanavigator::AronDictDataNavigatorPtr& input)
{
armarx::aron::io::AronDataNavigatorReader reader(input);
//this->read(reader);
}
- armarx::aron::typenavigator::AronTypeNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::AronObjectTypeNavigatorPtr toInitialAronType() const
{
armarx::aron::io::AronTypeNavigatorWriter writer;
this->writeType(writer);
- return writer.getResult();
+ return armarx::aron::typenavigator::AronObjectTypeNavigator::DynamicCast(writer.getResult());
}
};
diff --git a/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp b/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
index d3f1fd199..14bd92ceb 100644
--- a/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
@@ -28,6 +28,7 @@
#include <iostream>
#include <cstdlib>
#include <ctime>
+#include <numeric>
// IVT
#include <Image/ByteImage.h>
@@ -115,310 +116,281 @@ std::vector<unsigned char> generateRandomBlob(unsigned int size)
return new_blob;
}
-data::AronDataPtr generateAronDataFromType(const type::AronTypePtr& type)
+datanavigator::AronDataNavigatorPtr generateAronDataFromType(const typenavigator::AronTypeNavigatorPtr& type)
{
+ BOOST_CHECK_NE(type, nullptr);
BOOST_CHECK_NE(type.get(), nullptr);
+ const AronTypeDescriptor desc = type->getDescriptor();
+ switch (desc)
{
- type::AronObjectTypePtr t = type::AronObjectTypePtr::dynamicCast(type);
- if (t)
- {
- data::AronDictPtr d = data::AronDictPtr(new data::AronDict());
- for (const auto& [k, tt] : t->elementTypes)
- {
- d->elements[k] = generateAronDataFromType(tt);
- }
- return d;
- }
- }
+ case eAronObjectType:
{
- type::AronDictTypePtr t = type::AronDictTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronDict();
- }
- }
- {
- type::AronListTypePtr t = type::AronListTypePtr::dynamicCast(type);
- if (t)
+ typenavigator::AronObjectTypeNavigatorPtr t = typenavigator::AronObjectTypeNavigator::DynamicCast(type);
+ BOOST_CHECK_NE(t, nullptr);
+ BOOST_CHECK_NE(t.get(), nullptr);
+
+ datanavigator::AronDictDataNavigatorPtr d = datanavigator::AronDictDataNavigatorPtr(new datanavigator::AronDictDataNavigator());
+ for (const auto& [k, tt] : t->getAcceptedTypes())
{
- return new data::AronList();
+ d->addElement(k, generateAronDataFromType(tt));
}
+ return d;
}
+ case eAronDictType:
{
- type::AronTupleTypePtr t = type::AronTupleTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronList();
- }
+ typenavigator::AronDictTypeNavigatorPtr t = typenavigator::AronDictTypeNavigator::DynamicCast(type);
+ BOOST_CHECK_NE(t, nullptr);
+ BOOST_CHECK_NE(t.get(), nullptr);
+
+ return datanavigator::AronDataNavigatorPtr(new datanavigator::AronDictDataNavigator());
}
- {
- type::AronEigenMatrixTypePtr t = type::AronEigenMatrixTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronNDArray();
- }
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ case eAron##upperType##Type: \
+ { \
+ typenavigator::Aron##upperType##TypeNavigatorPtr t = typenavigator::Aron##upperType##TypeNavigator::DynamicCast(type); \
+ BOOST_CHECK_NE(t, nullptr); \
+ BOOST_CHECK_NE(t.get(), nullptr); \
+ \
+ return datanavigator::AronDataNavigatorPtr(new datanavigator::AronListDataNavigator()); \
}
- {
- type::AronIntTypePtr t = type::AronIntTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronInt();
- }
- }
- {
- type::AronLongTypePtr t = type::AronLongTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronLong();
- }
+
+ HANDLE_LIST_SERIALIZER_TYPES
+#undef RUN_ARON_MACRO
+
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ case eAron##upperType##Type: \
+ { \
+ typenavigator::Aron##upperType##TypeNavigatorPtr t = typenavigator::Aron##upperType##TypeNavigator::DynamicCast(type); \
+ BOOST_CHECK_NE(t, nullptr); \
+ BOOST_CHECK_NE(t.get(), nullptr); \
+ \
+ return datanavigator::AronDataNavigatorPtr(new datanavigator::AronNDArrayDataNavigator()); \
}
- {
- type::AronFloatTypePtr t = type::AronFloatTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronFloat();
- }
+
+ HANDLE_COMPLEX_TYPES
+#undef RUN_ARON_MACRO
+
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ case eAron##upperType##Type: \
+ { \
+ typenavigator::Aron##upperType##TypeNavigatorPtr t = typenavigator::Aron##upperType##TypeNavigator::DynamicCast(type); \
+ BOOST_CHECK_NE(t, nullptr); \
+ BOOST_CHECK_NE(t.get(), nullptr); \
+ \
+ return datanavigator::AronDataNavigatorPtr(new datanavigator::Aron##upperType##DataNavigator()); \
}
+
+ HANDLE_PRIMITIVE_TYPES
+#undef RUN_ARON_MACRO
+ default:
{
- type::AronDoubleTypePtr t = type::AronDoubleTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronDouble();
- }
+ throw armarx::aron::exception::AronTypeDescriptorNotValidException("AronTest", "generateAronDataFromType", "No valid type found!", desc);
}
- {
- type::AronStringTypePtr t = type::AronStringTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronString();
- }
}
- {
- type::AronBoolTypePtr t = type::AronBoolTypePtr::dynamicCast(type);
- if (t)
- {
- return new data::AronBool();
- }
- }
- throw armarx::aron::exception::AronTypeNotValidException("AronTest", "generateAronDataFromType", "No valid type found!", type);
}
-void initializeRandomly(data::AronDataPtr& data, const type::AronTypePtr& type)
+// Prototype recursion
+void initializeRandomly(datanavigator::AronDataNavigatorPtr& data, const typenavigator::AronTypeNavigatorPtr& type);
+
+void initializeRandomly(datanavigator::AronDictDataNavigatorPtr& data, const typenavigator::AronObjectTypeNavigatorPtr& type)
{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
BOOST_CHECK_NE(data.get(), nullptr);
BOOST_CHECK_NE(type.get(), nullptr);
- // Containers
+ for (auto& [key, nextData] : data->getElements())
{
- type::AronObjectTypePtr objectType = type::AronObjectTypePtr::dynamicCast(type);
- if (objectType)
- {
- data::AronDictPtr dict = data::AronDictPtr::dynamicCast(data);
- BOOST_CHECK_NE(dict.get(), nullptr);
- for (auto& [key, nextData] : dict->elements)
- {
- initializeRandomly(nextData, objectType->elementTypes[key]);
- }
- return;
- }
+ initializeRandomly(nextData, type->getAcceptedTypes()[key]);
}
+}
+void initializeRandomly(datanavigator::AronDictDataNavigatorPtr& data, const typenavigator::AronDictTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+
+ data->clear();
+ int numElements = generateRandom(5, 1);
+ std::set<std::string> usedKeys;
+ for (int i = 0; i < numElements; ++i)
{
- type::AronListTypePtr listType = type::AronListTypePtr::dynamicCast(type);
- if (listType)
+ std::string key = generateRandomWord();
+ while (usedKeys.count(key) > 0)
{
- data::AronListPtr list = data::AronListPtr::dynamicCast(data);
- BOOST_CHECK_NE(list.get(), nullptr);
-
- list->elements.clear();
- int numElements = generateRandom(5, 1);
- for (int i = 0; i < numElements; ++i)
- {
- data::AronDataPtr newData = generateAronDataFromType(listType->acceptedType);
- initializeRandomly(newData, listType->acceptedType);
- list->elements.push_back(newData);
- }
- return;
+ key = generateRandomWord();
}
+ usedKeys.insert(key);
+ datanavigator::AronDataNavigatorPtr newData = generateAronDataFromType(type->getAcceptedType());
+ initializeRandomly(newData, type->getAcceptedType());
+ data->addElement(key, newData);
}
+}
+
+void initializeRandomly(datanavigator::AronListDataNavigatorPtr& data, const typenavigator::AronTupleTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+ unsigned int i = 0;
+ for (auto& nextData : data->getElements())
{
- type::AronDictTypePtr dictType = type::AronDictTypePtr::dynamicCast(type);
- if (dictType)
- {
- data::AronDictPtr dict = data::AronDictPtr::dynamicCast(data);
- BOOST_CHECK_NE(dict.get(), nullptr);
-
- dict->elements.clear();
- int numElements = generateRandom(5, 1);
- std::cout << "Generating " << numElements << " elements" << std::endl;
- std::set<std::string> usedKeys;
- for (int i = 0; i < numElements; ++i)
- {
- std::string key = generateRandomWord();
- while (usedKeys.count(key) > 0)
- {
- key = generateRandomWord();
- }
- usedKeys.insert(key);
- data::AronDataPtr newData = generateAronDataFromType(dictType->acceptedType);
- initializeRandomly(newData, dictType->acceptedType);
- dict->elements[key] = newData;
- }
- return;
- }
+ initializeRandomly(nextData, type->getAcceptedTypes()[i++]);
}
+}
+
+void initializeRandomly(datanavigator::AronListDataNavigatorPtr& data, const typenavigator::AronListTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+ data->clear();
+ int numElements = generateRandom(5, 1);
+ for (int i = 0; i < numElements; ++i)
{
- type::AronTupleTypePtr tupleType = type::AronTupleTypePtr::dynamicCast(type);
- if (tupleType)
- {
- data::AronListPtr list = data::AronListPtr::dynamicCast(data);
- BOOST_CHECK_NE(list.get(), nullptr);
- BOOST_CHECK_EQUAL(list->elements.size(), tupleType->elementTypes.size());
-
- int i = 0;
- for (auto& nextData : list->elements)
- {
- initializeRandomly(nextData, tupleType->elementTypes[i++]);
- }
- return;
- }
+ datanavigator::AronDataNavigatorPtr newData = generateAronDataFromType(type->getAcceptedType());
+ initializeRandomly(newData, type->getAcceptedType());
+ data->addElement(newData);
}
+}
- // Complex
- {
- type::AronEigenMatrixTypePtr eigenMatrixType = type::AronEigenMatrixTypePtr::dynamicCast(type);
- if (eigenMatrixType)
- {
- data::AronNDArrayPtr blob = data::AronNDArrayPtr::dynamicCast(data);
- BOOST_CHECK_NE(blob.get(), nullptr);
- return;
- }
+void initializeRandomly(datanavigator::AronNDArrayDataNavigatorPtr& data, const typenavigator::AronNDArraySerializerTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
- type::AronIVTCByteImageTypePtr ivtCByteImageType = type::AronIVTCByteImageTypePtr::dynamicCast(type);
- if (ivtCByteImageType)
- {
- data::AronNDArrayPtr blob = data::AronNDArrayPtr::dynamicCast(data);
- BOOST_CHECK_NE(blob.get(), nullptr);
+ std::vector<int> dims = data->getDimensions();
+ int bytes = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ std::vector<unsigned char> blob = generateRandomBlob(bytes);
+ data->setData(bytes, blob.data());
+}
- blob->data = generateRandomBlob(blob->data.size());
- return;
- }
+void initializeRandomly(datanavigator::AronIntDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
- type::AronOpenCVMatTypePtr openCVMatType = type::AronOpenCVMatTypePtr::dynamicCast(type);
- if (openCVMatType)
- {
- data::AronNDArrayPtr blob = data::AronNDArrayPtr::dynamicCast(data);
- BOOST_CHECK_NE(blob.get(), nullptr);
+ data->setValue(generateRandom(32, -32));
+}
- blob->data = generateRandomBlob(blob->data.size());
- return;
- }
+void initializeRandomly(datanavigator::AronLongDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
- type::AronPCLPointCloudTypePtr pclPointCloudType = type::AronPCLPointCloudTypePtr::dynamicCast(type);
- if (pclPointCloudType)
- {
- data::AronNDArrayPtr blob = data::AronNDArrayPtr::dynamicCast(data);
- BOOST_CHECK_NE(blob.get(), nullptr);
+ data->setValue(generateRandom(32, -32));
+}
- blob->data = generateRandomBlob(blob->data.size());
- return;
- }
- }
+void initializeRandomly(datanavigator::AronFloatDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+ data->setValue(generateRandom(32, -32));
+}
- // Primitives
- {
- type::AronIntTypePtr primitiveType = type::AronIntTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronIntPtr primitiveData = data::AronIntPtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
+void initializeRandomly(datanavigator::AronDoubleDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
- primitiveData->value = generateRandom(32, -32);
- return;
- }
- }
- {
- type::AronLongTypePtr primitiveType = type::AronLongTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronLongPtr primitiveData = data::AronLongPtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
+ data->setValue(generateRandom(32, -32));
+}
- primitiveData->value = generateRandom(32, -32);
- return;
- }
- }
- {
- type::AronFloatTypePtr primitiveType = type::AronFloatTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronFloatPtr primitiveData = data::AronFloatPtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
+void initializeRandomly(datanavigator::AronBoolDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
- primitiveData->value = generateRandom(32, -32);
- return;
- }
- }
- {
- type::AronDoubleTypePtr primitiveType = type::AronDoubleTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronDoublePtr primitiveData = data::AronDoublePtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
+ data->setValue(generateRandom(1, 0));
+}
- primitiveData->value = generateRandom(32, -32);
- return;
- }
- }
+void initializeRandomly(datanavigator::AronStringDataNavigatorPtr& data, const typenavigator::AronPrimitiveTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+
+ data->setValue(generateRandomWord());
+}
+
+void initializeRandomly(datanavigator::AronDataNavigatorPtr& data, const typenavigator::AronTypeNavigatorPtr& type)
+{
+ BOOST_CHECK_NE(data, nullptr);
+ BOOST_CHECK_NE(type, nullptr);
+ BOOST_CHECK_NE(data.get(), nullptr);
+ BOOST_CHECK_NE(type.get(), nullptr);
+
+ // Containers
+ AronTypeDescriptor desc = type->getDescriptor();
+ switch (desc)
{
- type::AronStringTypePtr primitiveType = type::AronStringTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronStringPtr primitiveData = data::AronStringPtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
- primitiveData->value = generateRandomWord();
- return;
- }
+#define RUN_ARON_MACRO(upperType, lowerType, capsType, upperData, lowerData, capsData) \
+ case eAron##upperType##Type: \
+ { \
+ typenavigator::Aron##upperType##TypeNavigatorPtr t = typenavigator::Aron##upperType##TypeNavigator::DynamicCast(type); \
+ BOOST_CHECK_NE(t, nullptr); \
+ BOOST_CHECK_NE(t.get(), nullptr); \
+ \
+ datanavigator::Aron##upperData##DataNavigatorPtr d = datanavigator::Aron##upperData##DataNavigator::DynamicCast(data); \
+ BOOST_CHECK_NE(d, nullptr); \
+ BOOST_CHECK_NE(d.get(), nullptr); \
+ \
+ initializeRandomly(d, t); \
+ break; \
}
- {
- type::AronBoolTypePtr primitiveType = type::AronBoolTypePtr::dynamicCast(type);
- if (primitiveType)
- {
- data::AronBoolPtr primitiveData = data::AronBoolPtr::dynamicCast(data);
- BOOST_CHECK_NE(primitiveData.get(), nullptr);
- primitiveData->value = generateRandom(1, 0);
- return;
- }
+ HANDLE_ALL_CORRESPONDING
+#undef RUN_ARON_MACRO
+
+ default:
+ {
+ throw armarx::aron::exception::AronTypeDescriptorNotValidException("AronTest", "initializeRandomly", "No valid type found!", desc);
+ }
}
- throw armarx::aron::exception::AronTypeNotValidException("AronTest", "initializeRandomly", "No valid type found!", type);
}
template <typename T>
void runTestWithInstances(T& k1, T& k2)
{
std::cout << "\t getting type 1" << std::endl;
- typenavigator::AronTypeNavigatorPtr k1_type_nav = k1.toInitialAronType();
- type::AronTypePtr k1_type = k1_type_nav->getResult();
+ typenavigator::AronObjectTypeNavigatorPtr k1_type_nav = k1.toInitialAronType();
+ type::AronObjectTypePtr k1_type = k1_type_nav->getCastedResult();
BOOST_CHECK_NE(k1_type.get(), nullptr);
std::cout << "\t getting type 2" << std::endl;
- typenavigator::AronTypeNavigatorPtr k2_type_nav = k2.toInitialAronType();
- type::AronTypePtr k2_type = k2_type_nav->getResult();
+ typenavigator::AronObjectTypeNavigatorPtr k2_type_nav = k2.toInitialAronType();
+ type::AronObjectTypePtr k2_type = k2_type_nav->getCastedResult();
BOOST_CHECK_NE(k2_type.get(), nullptr);
std::cout << "\t getting aron 1" << std::endl;
- datanavigator::AronDataNavigatorPtr k1_aron_nav = k1.toAron();
- data::AronDataPtr k1_aron = k1_aron_nav->getResult();
+ datanavigator::AronDictDataNavigatorPtr k1_aron_nav = k1.toAron();
+ data::AronDictPtr k1_aron = k1_aron_nav->getCastedResult();
BOOST_CHECK_NE(k1_aron.get(), nullptr);
std::cout << "\t initialize aron 1 randomly" << std::endl;
- initializeRandomly(k1_aron, k1_type);
+ initializeRandomly(k1_aron_nav, k1_type_nav);
//std::cout << "K Aron:" << std::endl;
//std::cout << AronDebug::AronDataPtrToString(k_aron) << std::endl;
@@ -427,8 +399,8 @@ void runTestWithInstances(T& k1, T& k2)
k2.fromAron(k1_aron);
std::cout << "\t getting aron 2" << std::endl;
- datanavigator::AronDataNavigatorPtr k2_aron_nav = k2.toAron();
- data::AronDataPtr k2_aron = k2_aron_nav->getResult();
+ datanavigator::AronDictDataNavigatorPtr k2_aron_nav = k2.toAron();
+ data::AronDictPtr k2_aron = k2_aron_nav->getCastedResult();
BOOST_CHECK_NE(k2_aron.get(), nullptr);
//std::cout << "K2 Aron:" << std::endl;
@@ -449,7 +421,7 @@ void runTestWithInstances(T& k1, T& k2)
//type::AronTypePtr k2_current_type = k2_current_type_nav->getResult();
//BOOST_CHECK_NE(k2_current_type.get(), nullptr);
- initializeRandomly(k1_aron, k1_type);
+ initializeRandomly(k1_aron_nav, k1_type_nav);
k1.fromAron(k1_aron);
std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
--
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