From 18cb67f1065f0cf658d214a59ffb3703a0e71d55 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 7 Dec 2021 10:28:41 +0100
Subject: [PATCH] aron type visitor and converter updates
---
.../converter/json/NLohmannJSONConverter.cpp | 15 +-
.../converter/json/NLohmannJSONConverter.h | 28 +-
.../libraries/aron/core/CMakeLists.txt | 8 +
.../RobotAPI/libraries/aron/core/Descriptor.h | 41 +++
.../aron/core/data/converter/Converter.h | 15 +-
.../libraries/aron/core/data/rw/Reader.h | 3 +
.../libraries/aron/core/data/rw/Writer.h | 3 +
.../aron/core/data/variant/Variant.h | 3 +
.../aron/core/data/visitor/RecursiveVisitor.h | 184 ++++++------
.../aron/core/data/visitor/Visitor.h | 171 +++++------
.../data/visitor/variant/VariantVisitor.cpp | 272 ++++++++++--------
.../data/visitor/variant/VariantVisitor.h | 99 +++----
.../aron/core/type/converter/Converter.cpp | 30 ++
.../aron/core/type/converter/Converter.h | 263 +++++++++++++++++
.../nlohmannJSON/NlohmannJSONConverter.cpp | 30 ++
.../nlohmannJSON/NlohmannJSONConverter.h | 56 ++++
.../converter/variant/VariantConverter.cpp | 30 ++
.../type/converter/variant/VariantConverter.h | 57 ++++
.../libraries/aron/core/type/rw/Reader.h | 24 +-
.../libraries/aron/core/type/rw/Writer.h | 12 +-
.../nlohmannJSON/NlohmannJSONReader.cpp | 6 +-
.../reader/nlohmannJSON/NlohmannJSONReader.h | 44 +--
.../type/rw/reader/variant/VariantReader.cpp | 45 +--
.../type/rw/reader/variant/VariantReader.h | 48 ++--
.../writer/nlohmannJSON/NlohmannJSONWriter.h | 42 +--
.../type/rw/writer/variant/VariantWriter.h | 48 ++--
.../aron/core/type/variant/Variant.h | 3 +
.../nlohmannJSON/NlohmannJSONVisitor.cpp | 4 +-
.../nlohmannJSON/NlohmannJSONVisitor.h | 4 +-
.../type/visitor/variant/VariantVisitor.cpp | 5 +-
30 files changed, 1122 insertions(+), 471 deletions(-)
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/Converter.cpp
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/Converter.h
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.cpp
create mode 100644 source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index e984e760b..8eb3599fa 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -12,10 +12,21 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::data::VariantPtr& aron, nlohmann::json& j)
{
aron::data::writer::NlohmannJSONWriter dataWriter;
- j = aron::data::readAndWrite<Variant2NlohmannJSONConverterHelper>(aron);
+ j = aron::data::readAndWrite<DataVariant2NlohmannJSONConverterHelper>(aron);
}
+ nlohmann::json AronNlohmannJSONConverter::ConvertToNlohmannJSON(const type::VariantPtr& aron)
+ {
+ nlohmann::json j;
+ ConvertToNlohmannJSON(aron, j);
+ return j;
+ }
+ void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::type::VariantPtr& aron, nlohmann::json& j)
+ {
+ aron::type::writer::NlohmannJSONWriter typeWriter;
+ j = aron::type::readAndWrite<TypeVariant2NlohmannJSONConverterHelper>(aron);
+ }
data::DictPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(const nlohmann::json& j)
{
@@ -29,6 +40,6 @@ namespace armarx::aron::converter
void AronNlohmannJSONConverter::ConvertFromNlohmannJSON(aron::data::VariantPtr& a, const nlohmann::json& e, const aron::type::VariantPtr& expectedStructure)
{
aron::data::writer::NlohmannJSONWriter dataWriter;
- a = aron::data::readAndWrite<NlohmannJSON2VariantConverterHelper>(e);
+ a = aron::data::readAndWrite<NlohmannJSON2DataVariantConverterHelper>(e);
}
}
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
index da90be690..1dc529348 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
@@ -15,6 +15,13 @@
#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+#include <RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h>
+#include <RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h>
+#include <RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h>
+#include <RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>
+#include <RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
// JSON
#include <SimoxUtility/json/json.hpp>
@@ -23,13 +30,23 @@ namespace armarx::aron::converter
class AronNlohmannJSONConverter
{
private:
- struct Variant2NlohmannJSONConverterHelper :
- public data::VariantConverter<data::writer::NlohmannJSONWriter, Variant2NlohmannJSONConverterHelper>
+ struct DataVariant2NlohmannJSONConverterHelper :
+ public data::VariantConverter<data::writer::NlohmannJSONWriter, DataVariant2NlohmannJSONConverterHelper>
+ {
+ };
+
+ struct NlohmannJSON2DataVariantConverterHelper :
+ public data::NlohmannJSONConverter<data::writer::VariantWriter, NlohmannJSON2DataVariantConverterHelper>
{
};
- struct NlohmannJSON2VariantConverterHelper :
- public data::NlohmannJSONConverter<data::writer::VariantWriter, NlohmannJSON2VariantConverterHelper>
+ struct TypeVariant2NlohmannJSONConverterHelper :
+ public type::VariantConverter<type::writer::NlohmannJSONWriter, TypeVariant2NlohmannJSONConverterHelper>
+ {
+ };
+
+ struct NlohmannJSON2TypeVariantConverterHelper :
+ public type::NlohmannJSONConverter<type::writer::VariantWriter, NlohmannJSON2TypeVariantConverterHelper>
{
};
@@ -39,6 +56,9 @@ namespace armarx::aron::converter
static nlohmann::json ConvertToNlohmannJSON(const data::VariantPtr&);
static void ConvertToNlohmannJSON(const data::VariantPtr&, nlohmann::json&);
+ static nlohmann::json ConvertToNlohmannJSON(const type::VariantPtr&);
+ static void ConvertToNlohmannJSON(const type::VariantPtr&, nlohmann::json&);
+
static data::DictPtr ConvertFromNlohmannJSONObject(const nlohmann::json&);
static void ConvertFromNlohmannJSON(data::VariantPtr&, const nlohmann::json&, const aron::type::VariantPtr& = nullptr);
};
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 2bd9f9c91..3e173f52e 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -93,6 +93,10 @@ set(LIB_FILES
data/converter/variant/VariantConverter.cpp
data/converter/nlohmannJSON/NlohmannJSONConverter.cpp
+ type/converter/Converter.cpp
+ type/converter/variant/VariantConverter.cpp
+ type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
+
typereader/xml/Data.cpp
typereader/xml/Factory.cpp
typereader/xml/Reader.cpp
@@ -224,6 +228,10 @@ set(LIB_HEADERS
data/converter/variant/VariantConverter.h
data/converter/nlohmannJSON/NlohmannJSONConverter.h
+ type/converter/Converter.h
+ type/converter/variant/VariantConverter.h
+ type/converter/nlohmannJSON/NlohmannJSONConverter.h
+
typereader/helper/GenerateInfo.h
typereader/helper/GenerateTypeInfo.h
typereader/helper/GenerateIntEnumInfo.h
diff --git a/source/RobotAPI/libraries/aron/core/Descriptor.h b/source/RobotAPI/libraries/aron/core/Descriptor.h
index f6a8dfdfc..ba1b70b4d 100644
--- a/source/RobotAPI/libraries/aron/core/Descriptor.h
+++ b/source/RobotAPI/libraries/aron/core/Descriptor.h
@@ -311,4 +311,45 @@ namespace armarx::aron::data
{
return defaultconversion::typeinfo::TypeId2Descriptor.at(typeid(t).hash_code());
}
+
+ namespace defaultconversion
+ {
+ const std::map<Descriptor, aron::type::Descriptor> Data2TypeDescriptor = {
+ {Descriptor::eList, aron::type::Descriptor::eList},
+ {Descriptor::eDict, aron::type::Descriptor::eDict},
+ {Descriptor::eNDArray, aron::type::Descriptor::eNDArray},
+ {Descriptor::eInt, aron::type::Descriptor::eInt},
+ {Descriptor::eFloat, aron::type::Descriptor::eFloat},
+ {Descriptor::eLong, aron::type::Descriptor::eLong},
+ {Descriptor::eDouble, aron::type::Descriptor::eDouble},
+ {Descriptor::eString, aron::type::Descriptor::eString},
+ {Descriptor::eBool, aron::type::Descriptor::eBool},
+ {Descriptor::eUnknown, aron::type::Descriptor::eUnknown}
+ };
+
+ const std::map<aron::type::Descriptor, Descriptor> Type2DataDescriptor = {
+ {aron::type::Descriptor::eList, Descriptor::eList},
+ {aron::type::Descriptor::eObject, Descriptor::eDict},
+ {aron::type::Descriptor::eTuple, Descriptor::eList},
+ {aron::type::Descriptor::ePair, Descriptor::eList},
+ {aron::type::Descriptor::eDict, Descriptor::eDict},
+ {aron::type::Descriptor::eNDArray, Descriptor::eNDArray},
+ {aron::type::Descriptor::eMatrix, Descriptor::eNDArray},
+ {aron::type::Descriptor::eQuaternion, Descriptor::eNDArray},
+ {aron::type::Descriptor::ePointCloud, Descriptor::eNDArray},
+ {aron::type::Descriptor::ePosition, Descriptor::eNDArray},
+ {aron::type::Descriptor::eOrientation, Descriptor::eNDArray},
+ {aron::type::Descriptor::ePose, Descriptor::eNDArray},
+ {aron::type::Descriptor::eImage, Descriptor::eNDArray},
+ {aron::type::Descriptor::eIntEnum, Descriptor::eInt},
+ {aron::type::Descriptor::eInt, Descriptor::eInt},
+ {aron::type::Descriptor::eLong, Descriptor::eLong},
+ {aron::type::Descriptor::eFloat, Descriptor::eFloat},
+ {aron::type::Descriptor::eDouble, Descriptor::eDouble},
+ {aron::type::Descriptor::eString, Descriptor::eString},
+ {aron::type::Descriptor::eBool, Descriptor::eBool},
+ {aron::type::Descriptor::eTime, Descriptor::eLong},
+ {aron::type::Descriptor::eUnknown, Descriptor::eUnknown},
+ };
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/data/converter/Converter.h b/source/RobotAPI/libraries/aron/core/data/converter/Converter.h
index c538c61f3..f0573af75 100644
--- a/source/RobotAPI/libraries/aron/core/data/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/data/converter/Converter.h
@@ -29,15 +29,27 @@
namespace armarx::aron::data
{
- // prototype
+ // prototypes
+ template <class ReaderImplementation, class WriterImplementation, class DerivedT>
+ requires isReader<ReaderImplementation> && isWriter<WriterImplementation>
+ struct Converter;
+
+ template <class T>
+ concept isConverter = std::is_base_of<Converter<typename T::ReaderType, typename T::WriterType, typename T::This>, T>::value;
+
template <class ConverterImplementation>
+ requires isConverter<ConverterImplementation>
typename ConverterImplementation::WriterReturnType readAndWrite(typename ConverterImplementation::ReaderInputType& o);
/// Converter struct providing the needed methods.
/// WriterImplementation is a writer class, TODO: add concepts
template <class ReaderImplementation, class WriterImplementation, class DerivedT>
+ requires isReader<ReaderImplementation> && isWriter<WriterImplementation>
struct Converter : virtual public Visitor<typename ReaderImplementation::InputType>
{
+ using WriterType = WriterImplementation;
+ using ReaderType = ReaderImplementation;
+ using This = DerivedT;
using WriterReturnType = typename WriterImplementation::ReturnType;
using ReaderInputType = typename ReaderImplementation::InputType;
using ReaderInputTypeNonConst = typename ReaderImplementation::InputTypeNonConst;
@@ -130,6 +142,7 @@ namespace armarx::aron::data
/// the function to read from a variant and write to a writer T
/// returns the returntype of T
template <class ConverterImplementation>
+ requires isConverter<ConverterImplementation>
typename ConverterImplementation::WriterReturnType readAndWrite(typename ConverterImplementation::ReaderInputType& o)
{
ConverterImplementation v;
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/Reader.h b/source/RobotAPI/libraries/aron/core/data/rw/Reader.h
index 141cba9b8..d3642c157 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/Reader.h
@@ -89,4 +89,7 @@ namespace armarx::aron::data
return readBool(input, i);
}
};
+
+ template <class T>
+ concept isReader = std::is_base_of<ReaderInterface<typename T::InputType>, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
index 7482b13b6..edd43903f 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
@@ -86,4 +86,7 @@ namespace armarx::aron::data
return writeBool(i);
}
};
+
+ template <class T>
+ concept isWriter = std::is_base_of<WriterInterface<typename T::ReturnType>, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
index 00f5aa6ff..aee8c55fc 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
@@ -151,4 +151,7 @@ namespace armarx::aron::data
private:
static const VariantFactoryPtr FACTORY;
};
+
+ template <class T>
+ concept isVariant = std::is_base_of<Variant, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index 628316850..df9896b90 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -30,10 +30,104 @@
namespace armarx::aron::data
{
+ /**
+ * @see type/visitor/RecursiveVisitor.h
+ */
+ template <class T>
+ struct RecursiveVisitor : virtual public VisitorBase<T>
+ {
+ using Input = typename VisitorBase<T>::Input;
+ using InputNonConst = typename std::remove_const<Input>::type;
+
+ using MapElements = std::map<std::string, InputNonConst>;
+ using ListElements = std::vector<InputNonConst>;
+
+ virtual MapElements getDictElements(Input&) = 0;
+ virtual ListElements getListElements(Input&) = 0;
+
+ virtual void visitDictOnEnter(Input& element) {};
+ virtual void visitDictOnExit(Input& element) {};
+ virtual void visitListOnEnter(Input& element) {};
+ virtual void visitListOnExit(Input& element) {};
+
+ virtual void visitNDArray(Input& element) {};
+ virtual void visitInt(Input& element) {};
+ virtual void visitLong(Input& element) {};
+ virtual void visitFloat(Input& element) {};
+ virtual void visitDouble(Input& element) {};
+ virtual void visitBool(Input& element) {};
+ virtual void visitString(Input& element) {};
+ virtual void visitUnknown(Input& element) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual ~RecursiveVisitor() = default;
+ };
+
+ /**
+ * @see type/visitor/RecursiveVisitor.h
+ */
+ template <class T1, class T2>
+ struct RecursiveTypedVisitor : virtual public TypedVisitorBase<T1, T2>
+ {
+ using DataInput = typename TypedVisitorBase<T1, T2>::DataInput;
+ using TypeInput = typename TypedVisitorBase<T1, T2>::TypeInput;
+
+ using TypeInputNonConst = typename std::remove_const<TypeInput>::type;
+ using DataInputNonConst = typename std::remove_const<DataInput>::type;
+
+ using MapElements = std::map<std::string, std::pair<DataInputNonConst, TypeInputNonConst>>;
+ using ListElements = std::vector<std::pair<DataInputNonConst, TypeInputNonConst>>;
+ using PairElements = std::pair<std::pair<DataInputNonConst, TypeInputNonConst>, std::pair<DataInputNonConst, TypeInputNonConst>>;
+ using TupleElements = std::vector<std::pair<DataInputNonConst, TypeInputNonConst>>;
+
+ virtual MapElements getObjectElements(DataInput&, TypeInput&) = 0;
+ virtual MapElements getDictElements(DataInput&, TypeInput&) = 0;
+ virtual ListElements getListElements(DataInput&, TypeInput&) = 0;
+ virtual PairElements getPairElements(DataInput&, TypeInput&) = 0;
+ virtual TupleElements getTupleElements(DataInput&, TypeInput&) = 0;
+
+ virtual void visitObjectOnEnter(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitObjectOnExit(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDictOnEnter(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDictOnExit(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPairOnEnter(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPairOnExit(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTupleOnEnter(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTupleOnExit(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitListOnEnter(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitListOnExit(DataInput& elementData, TypeInput& elementType) {};
+
+ virtual void visitMatrix(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitNDArray(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitQuaternion(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitOrientation(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPosition(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPose(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitImage(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPointCloud(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitIntEnum(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitInt(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitLong(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitFloat(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDouble(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitBool(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitString(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTime(DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitUnknown(DataInput& elementData, TypeInput& elementType) {
+ throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
+ }
+ virtual ~RecursiveTypedVisitor() = default;
+ };
+
+ template <class T, class Data>
+ concept isRecursiveVisitor = std::is_base_of<RecursiveVisitor<Data>, T>::value;
+
+ template <class T, class Data, class Type>
+ concept isRecursiveTypedVisitor = std::is_base_of<RecursiveTypedVisitor<Data, Type>, T>::value;
+
/**
* @see type/visitor/RecursiveVisitor.h
*/
template <class RecursiveVisitorImplementation>
+ requires isRecursiveVisitor<RecursiveVisitorImplementation, typename RecursiveVisitorImplementation::Input>
void visitRecursive(RecursiveVisitorImplementation& v, typename RecursiveVisitorImplementation::Input& o)
{
data::Descriptor descriptor = v.getDescriptor(o);
@@ -85,9 +179,10 @@ namespace armarx::aron::data
* @see data/visitor/Visitor.h
*/
template <class RecursiveVisitorImplementation>
+ requires isRecursiveTypedVisitor<RecursiveVisitorImplementation, typename RecursiveVisitorImplementation::DataInput, typename RecursiveVisitorImplementation::TypeInput>
void visitRecursive(RecursiveVisitorImplementation& v, typename RecursiveVisitorImplementation::DataInput& o, typename RecursiveVisitorImplementation::TypeInput& t)
{
- type::Descriptor descriptor = v.getDescriptor(t);
+ type::Descriptor descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
case type::Descriptor::eList:
@@ -181,91 +276,4 @@ namespace armarx::aron::data
return v.visitUnknown(o, t);
}
}
-
- /**
- * @see type/visitor/RecursiveVisitor.h
- */
- template <class T>
- struct RecursiveVisitor : virtual public VisitorBase<T>
- {
- using Input = typename VisitorBase<T>::Input;
- using InputNonConst = typename std::remove_const<Input>::type;
-
- using MapElements = std::map<std::string, InputNonConst>;
- using ListElements = std::vector<InputNonConst>;
-
- virtual MapElements getDictElements(Input&) = 0;
- virtual ListElements getListElements(Input&) = 0;
-
- virtual void visitDictOnEnter(Input& element) {};
- virtual void visitDictOnExit(Input& element) {};
- virtual void visitListOnEnter(Input& element) {};
- virtual void visitListOnExit(Input& element) {};
-
- virtual void visitNDArray(Input& element) {};
- virtual void visitInt(Input& element) {};
- virtual void visitLong(Input& element) {};
- virtual void visitFloat(Input& element) {};
- virtual void visitDouble(Input& element) {};
- virtual void visitBool(Input& element) {};
- virtual void visitString(Input& element) {};
- virtual void visitUnknown(Input& element) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
- virtual ~RecursiveVisitor() = default;
- };
-
- /**
- * @see type/visitor/RecursiveVisitor.h
- */
- template <class T1, class T2>
- struct RecursiveTypedVisitor : virtual public TypedVisitorBase<T1, T2>
- {
- using DataInput = typename TypedVisitorBase<T1, T2>::DataInput;
- using TypeInput = typename TypedVisitorBase<T1, T2>::TypeInput;
-
- using TypeInputNonConst = typename std::remove_const<TypeInput>::type;
- using DataInputNonConst = typename std::remove_const<DataInput>::type;
-
- using MapElements = std::map<std::string, std::pair<DataInputNonConst, TypeInputNonConst>>;
- using ListElements = std::vector<std::pair<DataInputNonConst, TypeInputNonConst>>;
- using PairElements = std::pair<std::pair<DataInputNonConst, TypeInputNonConst>, std::pair<DataInputNonConst, TypeInputNonConst>>;
- using TupleElements = std::vector<std::pair<DataInputNonConst, TypeInputNonConst>>;
-
- virtual MapElements getObjectElements(DataInput&, TypeInput&) = 0;
- virtual MapElements getDictElements(DataInput&, TypeInput&) = 0;
- virtual ListElements getListElements(DataInput&, TypeInput&) = 0;
- virtual PairElements getPairElements(DataInput&, TypeInput&) = 0;
- virtual TupleElements getTupleElements(DataInput&, TypeInput&) = 0;
-
- virtual void visitObjectOnEnter(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitObjectOnExit(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitDictOnEnter(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitDictOnExit(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPairOnEnter(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPairOnExit(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitTupleOnEnter(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitTupleOnExit(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitListOnEnter(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitListOnExit(DataInput& elementData, TypeInput& elementType) {};
-
- virtual void visitMatrix(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitNDArray(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitQuaternion(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitOrientation(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPosition(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPose(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitImage(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitPointCloud(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitIntEnum(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitInt(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitLong(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitFloat(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitDouble(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitBool(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitString(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitTime(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitUnknown(DataInput& elementData, TypeInput& elementType) {
- throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
- }
- virtual ~RecursiveTypedVisitor() = default;
- };
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
index f2de6fd42..dc9ae66d4 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/Visitor.h
@@ -32,10 +32,98 @@
namespace armarx::aron::data
{
+ /**
+ * @see type/visitor/Visitor.h
+ */
+ template <class T>
+ struct VisitorBase
+ {
+ using Input = T;
+
+ virtual data::Descriptor getDescriptor(Input&) = 0;
+ virtual ~VisitorBase() = default;
+ };
+
+ /**
+ * @see type/visitor/Visitor.h
+ */
+ template <class T1, class T2>
+ struct TypedVisitorBase
+ {
+ using DataInput = T1;
+ using TypeInput = T2;
+
+ virtual type::Descriptor getDescriptor(DataInput&, TypeInput&) = 0;
+ virtual ~TypedVisitorBase() = default;
+ };
+
+ /**
+ * @see type/visitor/Visitor.h
+ */
+ template <class T>
+ struct Visitor : virtual public VisitorBase<T>
+ {
+ using Input = typename VisitorBase<T>::Input;
+
+ virtual void visitDict(Input&) {};
+ virtual void visitList(Input&) {};
+ virtual void visitNDArray(Input&) {};
+ virtual void visitInt(Input&) {};
+ virtual void visitLong(Input&) {};
+ virtual void visitFloat(Input&) {};
+ virtual void visitDouble(Input&) {};
+ virtual void visitBool(Input&) {};
+ virtual void visitString(Input&) {};
+ virtual void visitUnknown(Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual ~Visitor() = default;
+ };
+
+ /**
+ * @see type/visitor/Visitor.h
+ */
+ template <class T1, class T2>
+ struct TypedVisitor : virtual public TypedVisitorBase<T1, T2>
+ {
+ using DataInput = typename TypedVisitorBase<T1, T2>::DataInput;
+ using TypeInput = typename TypedVisitorBase<T1, T2>::TypeInput;
+
+ virtual void visitObject(DataInput&, TypeInput&) {};
+ virtual void visitDict(DataInput&, TypeInput&) {};
+ virtual void visitPair(DataInput&, TypeInput&) {};
+ virtual void visitTuple(DataInput&, TypeInput&) {};
+ virtual void visitList(DataInput&, TypeInput&) {};
+ virtual void visitMatrix(DataInput&, TypeInput&) {};
+ virtual void visitNDArray(DataInput&, TypeInput&) {};
+ virtual void visitQuaternion(DataInput&, TypeInput&) {};
+ virtual void visitOrientation(DataInput&, TypeInput&) {};
+ virtual void visitPosition(DataInput&, TypeInput&) {};
+ virtual void visitPose(DataInput&, TypeInput&) {};
+ virtual void visitImage(DataInput&, TypeInput&) {};
+ virtual void visitPointCloud(DataInput&, TypeInput&) {};
+ virtual void visitIntEnum(DataInput&, TypeInput&) {};
+ virtual void visitInt(DataInput&, TypeInput&) {};
+ virtual void visitLong(DataInput&, TypeInput&) {};
+ virtual void visitFloat(DataInput&, TypeInput&) {};
+ virtual void visitDouble(DataInput&, TypeInput&) {};
+ virtual void visitBool(DataInput&, TypeInput&) {};
+ virtual void visitString(DataInput&, TypeInput&) {};
+ virtual void visitTime(DataInput&, TypeInput&) {};
+ virtual void visitUnknown(DataInput&, TypeInput&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual ~TypedVisitor() = default;
+ };
+
+ template <class T, class Data>
+ concept isVisitor = std::is_base_of<Visitor<Data>, T>::value;
+
+ template <class T, class Data, class Type>
+ concept isTypedVisitor = std::is_base_of<TypedVisitor<Data, Type>, T>::value;
+
+
/**
* @see type/visitor/Visitor.h
*/
template <class VisitorImplementation>
+ requires isVisitor<VisitorImplementation, typename VisitorImplementation::Input>
void visit(VisitorImplementation& v, typename VisitorImplementation::Input& o)
{
auto descriptor = v.getDescriptor(o);
@@ -70,9 +158,10 @@ namespace armarx::aron::data
* Does NOT check if the data and type representation match!
*/
template <class VisitorImplementation>
+ requires isTypedVisitor<VisitorImplementation, typename VisitorImplementation::DataInput, typename VisitorImplementation::TypeInput>
void visit(VisitorImplementation& v, typename VisitorImplementation::DataInput& o, typename VisitorImplementation::TypeInput& t)
{
- auto descriptor = v.getDescriptor(t);
+ auto descriptor = v.getDescriptor(o, t);
switch (descriptor)
{
case type::Descriptor::eObject:
@@ -121,84 +210,4 @@ namespace armarx::aron::data
return v.visitUnknown(o, t);
}
}
-
- /**
- * @see type/visitor/Visitor.h
- */
- template <class T>
- struct VisitorBase
- {
- using Input = T;
-
- virtual data::Descriptor getDescriptor(Input&) = 0;
- virtual ~VisitorBase() = default;
- };
-
- /**
- * @see type/visitor/Visitor.h
- */
- template <class T1, class T2>
- struct TypedVisitorBase
- {
- using DataInput = T1;
- using TypeInput = T2;
-
- virtual type::Descriptor getDescriptor(TypeInput&) = 0;
- virtual ~TypedVisitorBase() = default;
- };
-
- /**
- * @see type/visitor/Visitor.h
- */
- template <class T>
- struct Visitor : virtual public VisitorBase<T>
- {
- using Input = typename VisitorBase<T>::Input;
-
- virtual void visitDict(Input&) {};
- virtual void visitList(Input&) {};
- virtual void visitNDArray(Input&) {};
- virtual void visitInt(Input&) {};
- virtual void visitLong(Input&) {};
- virtual void visitFloat(Input&) {};
- virtual void visitDouble(Input&) {};
- virtual void visitBool(Input&) {};
- virtual void visitString(Input&) {};
- virtual void visitUnknown(Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
- virtual ~Visitor() = default;
- };
-
- /**
- * @see type/visitor/Visitor.h
- */
- template <class T1, class T2>
- struct TypedVisitor : virtual public TypedVisitorBase<T1, T2>
- {
- using DataInput = typename TypedVisitorBase<T1, T2>::DataInput;
- using TypeInput = typename TypedVisitorBase<T1, T2>::TypeInput;
-
- virtual void visitObject(DataInput&, TypeInput&) {};
- virtual void visitDict(DataInput&, TypeInput&) {};
- virtual void visitPair(DataInput&, TypeInput&) {};
- virtual void visitTuple(DataInput&, TypeInput&) {};
- virtual void visitList(DataInput&, TypeInput&) {};
- virtual void visitMatrix(DataInput&, TypeInput&) {};
- virtual void visitNDArray(DataInput&, TypeInput&) {};
- virtual void visitQuaternion(DataInput&, TypeInput&) {};
- virtual void visitOrientation(DataInput&, TypeInput&) {};
- virtual void visitPosition(DataInput&, TypeInput&) {};
- virtual void visitPose(DataInput&, TypeInput&) {};
- virtual void visitImage(DataInput&, TypeInput&) {};
- virtual void visitPointCloud(DataInput&, TypeInput&) {};
- virtual void visitIntEnum(DataInput&, TypeInput&) {};
- virtual void visitInt(DataInput&, TypeInput&) {};
- virtual void visitLong(DataInput&, TypeInput&) {};
- virtual void visitFloat(DataInput&, TypeInput&) {};
- virtual void visitDouble(DataInput&, TypeInput&) {};
- virtual void visitBool(DataInput&, TypeInput&) {};
- virtual void visitString(DataInput&, TypeInput&) {};
- virtual void visitTime(DataInput&, TypeInput&) {};
- virtual void visitUnknown(DataInput&, TypeInput&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
- virtual ~TypedVisitor() = default;
- };
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
index 778cc6439..a91f1ac11 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
@@ -114,179 +114,190 @@ namespace armarx::aron::data
/****************************************************************************
* ConstTypedVariantVisitor
***************************************************************************/
- type::Descriptor ConstTypedVariantVisitor::getDescriptor(TypeInput& n)
+ type::Descriptor ConstTypedVariantVisitor::GetDescriptor(DataInput& i, TypeInput& j)
{
- return type::ConstVariantVisitor::GetDescriptor(n);
+ auto t_desc = type::ConstVariantVisitor::GetDescriptor(j);
+ if (t_desc == type::Descriptor::eUnknown)
+ {
+ auto d_desc = ConstVariantVisitor::GetDescriptor(i);
+ t_desc = aron::data::defaultconversion::Data2TypeDescriptor.at(d_desc);
+ }
+ return t_desc;
+ }
+
+ type::Descriptor ConstTypedVariantVisitor::getDescriptor(DataInput& i, TypeInput& n)
+ {
+ return GetDescriptor(i, n);
}
void ConstTypedVariantVisitor::visitObject(DataInput& i, TypeInput& j)
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Object::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitDict(DataInput& i, TypeInput& j)
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Dict::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitPair(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Pair::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitTuple(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Tuple::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitList(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::List::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitMatrix(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Matrix::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitNDArray(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::NDArray::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitQuaternion(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Quaternion::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitOrientation(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Orientation::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitPosition(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Position::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitPose(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Pose::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitImage(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Image::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitPointCloud(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::PointCloud::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitIntEnum(DataInput& i, TypeInput& j)
{
auto d = data::Int::DynamicCastAndCheck(i);
auto t = type::IntEnum::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitInt(DataInput& i, TypeInput& j)
{
auto d = data::Int::DynamicCastAndCheck(i);
auto t = type::Int::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitLong(DataInput& i, TypeInput& j)
{
auto d = data::Long::DynamicCastAndCheck(i);
auto t = type::Long::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitFloat(DataInput& i, TypeInput& j)
{
auto d = data::Float::DynamicCastAndCheck(i);
auto t = type::Float::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitDouble(DataInput& i, TypeInput& j)
{
auto d = data::Double::DynamicCastAndCheck(i);
auto t = type::Double::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitBool(DataInput& i, TypeInput& j)
{
auto d = data::Bool::DynamicCastAndCheck(i);
auto t = type::Bool::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitString(DataInput& i, TypeInput& j)
{
auto d = data::String::DynamicCastAndCheck(i);
auto t = type::String::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void ConstTypedVariantVisitor::visitTime(DataInput& i, TypeInput& j)
{
auto d = data::Long::DynamicCastAndCheck(i);
auto t = type::Time::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
- }
-
- void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::Object&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::Dict&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::List&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::Pair&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::Tuple&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Matrix&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArray&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Quaternion&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Orientation&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Position&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Pose&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloud&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Image&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnum&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::Int&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::Long&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::Time&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::Float&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::Double&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::Bool&) {}
- void ConstTypedVariantVisitor::visitAronVariant(const data::StringPtr&, const type::String&) {}
+ visitAronVariant(d, t);
+ }
+
+ void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::ObjectPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::DictPtr&, const type::DictPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::ListPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::PairPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::ListPtr&, const type::TuplePtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::LongPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::TimePtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
+ void ConstTypedVariantVisitor::visitAronVariant(const data::StringPtr&, const type::StringPtr&) {}
@@ -500,9 +511,9 @@ namespace armarx::aron::data
/****************************************************************************
* RecursiveConstTypedVariantVisitor
***************************************************************************/
- type::Descriptor RecursiveConstTypedVariantVisitor::getDescriptor(TypeInput& n)
+ type::Descriptor RecursiveConstTypedVariantVisitor::getDescriptor(DataInput& o, TypeInput& n)
{
- return type::ConstVariantVisitor::GetDescriptor(n);
+ return ConstTypedVariantVisitor::GetDescriptor(o, n);
}
RecursiveConstTypedVariantVisitor::MapElements
@@ -511,10 +522,16 @@ namespace armarx::aron::data
std::map<std::string, std::pair<data::VariantPtr, type::VariantPtr>> ret;
auto x = data::Dict::DynamicCastAndCheck(o);
auto y = type::Object::DynamicCastAndCheck(t);
- for (const auto& [key, e] : x->getElements())
+
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
{
- auto ct = y->getMemberType(key);
- ret.insert({key, {e, ct}});
+ for (const auto& [key, e] : x->getElements())
+ {
+ auto ct = y->getMemberType(key);
+ ret.insert({key, {e, ct}});
+ }
}
return ret;
}
@@ -525,11 +542,15 @@ namespace armarx::aron::data
std::map<std::string, std::pair<data::VariantPtr, type::VariantPtr>> ret;
auto x = data::Dict::DynamicCastAndCheck(o);
auto y = type::Dict::DynamicCastAndCheck(t);
- auto ac = y->getAcceptedType();
- for (const auto& [key, e] : x->getElements())
+ auto ac = y ? y->getAcceptedType() : nullptr;
+
+ if (x)
{
- ret.insert({key, {e, ac}});
+ for (const auto& [key, e] : x->getElements())
+ {
+ ret.insert({key, {e, ac}});
+ }
}
return ret;
}
@@ -540,11 +561,15 @@ namespace armarx::aron::data
std::vector<std::pair<data::VariantPtr, type::VariantPtr>> ret;
auto x = data::List::DynamicCastAndCheck(o);
auto y = type::List::DynamicCastAndCheck(t);
- auto ac = y->getAcceptedType();
- for (const auto& e : x->getElements())
+ auto ac = y ? y->getAcceptedType() : nullptr;
+
+ if (x)
{
- ret.push_back({e, ac});
+ for (const auto& e : x->getElements())
+ {
+ ret.push_back({e, ac});
+ }
}
return ret;
}
@@ -555,11 +580,17 @@ namespace armarx::aron::data
auto x = data::List::DynamicCastAndCheck(o);
auto y = type::Pair::DynamicCastAndCheck(t);
- auto e0 = x->getElement(0);
- auto ac0 = y->getFirstAcceptedType();
- auto e1 = x->getElement(1);
- auto ac1 = y->getSecondAcceptedType();
- return {{e0, ac0}, {e1, ac1}};
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
+ {
+ auto e0 = x->getElement(0);
+ auto ac0 = y->getFirstAcceptedType();
+ auto e1 = x->getElement(1);
+ auto ac1 = y->getSecondAcceptedType();
+ return {{e0, ac0}, {e1, ac1}};
+ }
+ return {};
}
RecursiveConstTypedVariantVisitor::TupleElements
@@ -569,11 +600,16 @@ namespace armarx::aron::data
auto x = data::List::DynamicCastAndCheck(o);
auto y = type::Tuple::DynamicCastAndCheck(t);
- unsigned int i = 0;
- for (const auto& e : x->getElements())
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
{
- auto ac = y->getAcceptedType(i++);
- ret.push_back({e, ac});
+ unsigned int i = 0;
+ for (const auto& e : x->getElements())
+ {
+ auto ac = y->getAcceptedType(i++);
+ ret.push_back({e, ac});
+ }
}
return ret;
}
@@ -612,210 +648,210 @@ namespace armarx::aron::data
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Object::DynamicCastAndCheck(j);
- visitAronVariantOnEnter(d, *t);
+ visitAronVariantOnEnter(d, t);
}
void RecursiveConstTypedVariantVisitor::visitDictOnEnter(DataInput& i, TypeInput& j)
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Dict::DynamicCastAndCheck(j);
- visitAronVariantOnEnter(d, *t);
+ visitAronVariantOnEnter(d, t);
}
void RecursiveConstTypedVariantVisitor::visitPairOnEnter(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Pair::DynamicCastAndCheck(j);
- visitAronVariantOnEnter(d, *t);
+ visitAronVariantOnEnter(d, t);
}
void RecursiveConstTypedVariantVisitor::visitTupleOnEnter(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Tuple::DynamicCastAndCheck(j);
- visitAronVariantOnEnter(d, *t);
+ visitAronVariantOnEnter(d, t);
}
void RecursiveConstTypedVariantVisitor::visitListOnEnter(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::List::DynamicCastAndCheck(j);
- visitAronVariantOnEnter(d, *t);
+ visitAronVariantOnEnter(d, t);
}
void RecursiveConstTypedVariantVisitor::visitObjectOnExit(DataInput& i, TypeInput& j)
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Object::DynamicCastAndCheck(j);
- visitAronVariantOnExit(d, *t);
+ visitAronVariantOnExit(d, t);
}
void RecursiveConstTypedVariantVisitor::visitDictOnExit(DataInput& i, TypeInput& j)
{
auto d = data::Dict::DynamicCastAndCheck(i);
auto t = type::Dict::DynamicCastAndCheck(j);
- visitAronVariantOnExit(d, *t);
+ visitAronVariantOnExit(d, t);
}
void RecursiveConstTypedVariantVisitor::visitPairOnExit(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Pair::DynamicCastAndCheck(j);
- visitAronVariantOnExit(d, *t);
+ visitAronVariantOnExit(d, t);
}
void RecursiveConstTypedVariantVisitor::visitTupleOnExit(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::Tuple::DynamicCastAndCheck(j);
- visitAronVariantOnExit(d, *t);
+ visitAronVariantOnExit(d, t);
}
void RecursiveConstTypedVariantVisitor::visitListOnExit(DataInput& i, TypeInput& j)
{
auto d = data::List::DynamicCastAndCheck(i);
auto t = type::List::DynamicCastAndCheck(j);
- visitAronVariantOnExit(d, *t);
+ visitAronVariantOnExit(d, t);
}
void RecursiveConstTypedVariantVisitor::visitMatrix(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Matrix::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitNDArray(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::NDArray::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitQuaternion(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Quaternion::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitOrientation(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Orientation::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitPosition(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Position::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitPose(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Pose::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitImage(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::Image::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitPointCloud(DataInput& i, TypeInput& j)
{
auto d = data::NDArray::DynamicCastAndCheck(i);
auto t = type::PointCloud::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitIntEnum(DataInput& i, TypeInput& j)
{
auto d = data::Int::DynamicCastAndCheck(i);
auto t = type::IntEnum::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitInt(DataInput& i, TypeInput& j)
{
auto d = data::Int::DynamicCastAndCheck(i);
auto t = type::Int::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitLong(DataInput& i, TypeInput& j)
{
auto d = data::Long::DynamicCastAndCheck(i);
auto t = type::Long::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitFloat(DataInput& i, TypeInput& j)
{
auto d = data::Float::DynamicCastAndCheck(i);
auto t = type::Float::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitDouble(DataInput& i, TypeInput& j)
{
auto d = data::Double::DynamicCastAndCheck(i);
auto t = type::Double::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitBool(DataInput& i, TypeInput& j)
{
auto d = data::Bool::DynamicCastAndCheck(i);
auto t = type::Bool::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitString(DataInput& i, TypeInput& j)
{
auto d = data::String::DynamicCastAndCheck(i);
auto t = type::String::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
void RecursiveConstTypedVariantVisitor::visitTime(DataInput& i, TypeInput& j)
{
auto d = data::Long::DynamicCastAndCheck(i);
auto t = type::Time::DynamicCastAndCheck(j);
- visitAronVariant(d, *t);
+ visitAronVariant(d, t);
}
// see above
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::Object&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::Dict&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::List&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::Pair&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::Tuple&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::DictPtr&, const type::Object&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::DictPtr&, const type::Dict&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::List&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::Pair&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::Tuple&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Matrix&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArray&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Quaternion&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Orientation&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Position&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Pose&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloud&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::Image&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnum&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::Int&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::Long&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::Time&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::Float&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::Double&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::Bool&) {}
- void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::StringPtr&, const type::String&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::DictPtr&, const type::DictPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::ListPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::PairPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnEnter(const data::ListPtr&, const type::TuplePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::DictPtr&, const type::ObjectPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::DictPtr&, const type::DictPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::ListPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::PairPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::TuplePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::IntPtr&, const type::IntPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::LongPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::LongPtr&, const type::TimePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) {}
+ void RecursiveConstTypedVariantVisitor::visitAronVariant(const data::StringPtr&, const type::StringPtr&) {}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
index e1ffd36fa..8a8cc2a90 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
@@ -71,7 +71,8 @@ namespace armarx::aron::data
*/
struct ConstTypedVariantVisitor : virtual public TypedVisitor<const data::VariantPtr, const type::VariantPtr>
{
- type::Descriptor getDescriptor(TypeInput& n) override;
+ static type::Descriptor GetDescriptor(DataInput& i, TypeInput& j);
+ type::Descriptor getDescriptor(DataInput& i, TypeInput& j) override;
virtual ~ConstTypedVariantVisitor() = default;
// see above
@@ -98,27 +99,27 @@ namespace armarx::aron::data
void visitTime(DataInput&, TypeInput&) override;
// see above
- virtual void visitAronVariant(const data::DictPtr&, const type::Object&);
- virtual void visitAronVariant(const data::DictPtr&, const type::Dict&);
- virtual void visitAronVariant(const data::ListPtr&, const type::List&);
- virtual void visitAronVariant(const data::ListPtr&, const type::Pair&);
- virtual void visitAronVariant(const data::ListPtr&, const type::Tuple&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Matrix&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArray&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Quaternion&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Orientation&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Position&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Pose&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloud&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Image&);
- virtual void visitAronVariant(const data::IntPtr&, const type::IntEnum&);
- virtual void visitAronVariant(const data::IntPtr&, const type::Int&);
- virtual void visitAronVariant(const data::LongPtr&, const type::Long&);
- virtual void visitAronVariant(const data::LongPtr&, const type::Time&);
- virtual void visitAronVariant(const data::FloatPtr&, const type::Float&);
- virtual void visitAronVariant(const data::DoublePtr&, const type::Double&);
- virtual void visitAronVariant(const data::BoolPtr&, const type::Bool&);
- virtual void visitAronVariant(const data::StringPtr&, const type::String&);
+ virtual void visitAronVariant(const data::DictPtr&, const type::ObjectPtr&);
+ virtual void visitAronVariant(const data::DictPtr&, const type::DictPtr&);
+ virtual void visitAronVariant(const data::ListPtr&, const type::ListPtr&);
+ virtual void visitAronVariant(const data::ListPtr&, const type::PairPtr&);
+ virtual void visitAronVariant(const data::ListPtr&, const type::TuplePtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&);
+ virtual void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&);
+ virtual void visitAronVariant(const data::IntPtr&, const type::IntPtr&);
+ virtual void visitAronVariant(const data::LongPtr&, const type::LongPtr&);
+ virtual void visitAronVariant(const data::LongPtr&, const type::TimePtr&);
+ virtual void visitAronVariant(const data::FloatPtr&, const type::FloatPtr&);
+ virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
+ virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
+ virtual void visitAronVariant(const data::StringPtr&, const type::StringPtr&);
};
/**
@@ -198,7 +199,7 @@ namespace armarx::aron::data
*/
struct RecursiveConstTypedVariantVisitor : virtual public RecursiveTypedVisitor<const data::VariantPtr, const type::VariantPtr>
{
- type::Descriptor getDescriptor(TypeInput& n) override;
+ type::Descriptor getDescriptor(DataInput& o, TypeInput& n) override;
static MapElements GetObjectElements(DataInput& o, TypeInput& t);
static MapElements GetDictElements(DataInput& o, TypeInput& t);
static ListElements GetListElements(DataInput& o, TypeInput& t);
@@ -241,31 +242,31 @@ namespace armarx::aron::data
void visitTime(DataInput&, TypeInput&) override;
// see above
- virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::Object&);
- virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::Dict&);
- virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::List&);
- virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::Pair&);
- virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::Tuple&);
- virtual void visitAronVariantOnExit(const data::DictPtr&, const type::Object&);
- virtual void visitAronVariantOnExit(const data::DictPtr&, const type::Dict&);
- virtual void visitAronVariantOnExit(const data::ListPtr&, const type::List&);
- virtual void visitAronVariantOnExit(const data::ListPtr&, const type::Pair&);
- virtual void visitAronVariantOnExit(const data::ListPtr&, const type::Tuple&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Matrix&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArray&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Quaternion&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Orientation&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Position&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Pose&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloud&);
- virtual void visitAronVariant(const data::NDArrayPtr&, const type::Image&);
- virtual void visitAronVariant(const data::IntPtr&, const type::IntEnum&);
- virtual void visitAronVariant(const data::IntPtr&, const type::Int&);
- virtual void visitAronVariant(const data::LongPtr&, const type::Long&);
- virtual void visitAronVariant(const data::LongPtr&, const type::Time&);
- virtual void visitAronVariant(const data::FloatPtr&, const type::Float&);
- virtual void visitAronVariant(const data::DoublePtr&, const type::Double&);
- virtual void visitAronVariant(const data::BoolPtr&, const type::Bool&);
- virtual void visitAronVariant(const data::StringPtr&, const type::String&);
+ virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::ObjectPtr&);
+ virtual void visitAronVariantOnEnter(const data::DictPtr&, const type::DictPtr&);
+ virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::ListPtr&);
+ virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::PairPtr&);
+ virtual void visitAronVariantOnEnter(const data::ListPtr&, const type::TuplePtr&);
+ virtual void visitAronVariantOnExit(const data::DictPtr&, const type::ObjectPtr&);
+ virtual void visitAronVariantOnExit(const data::DictPtr&, const type::DictPtr&);
+ virtual void visitAronVariantOnExit(const data::ListPtr&, const type::ListPtr&);
+ virtual void visitAronVariantOnExit(const data::ListPtr&, const type::PairPtr&);
+ virtual void visitAronVariantOnExit(const data::ListPtr&, const type::TuplePtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::MatrixPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::NDArrayPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::QuaternionPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::OrientationPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PositionPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PosePtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::PointCloudPtr&);
+ virtual void visitAronVariant(const data::NDArrayPtr&, const type::ImagePtr&);
+ virtual void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&);
+ virtual void visitAronVariant(const data::IntPtr&, const type::IntPtr&);
+ virtual void visitAronVariant(const data::LongPtr&, const type::LongPtr&);
+ virtual void visitAronVariant(const data::LongPtr&, const type::TimePtr&);
+ virtual void visitAronVariant(const data::FloatPtr&, const type::FloatPtr&);
+ virtual void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&);
+ virtual void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&);
+ virtual void visitAronVariant(const data::StringPtr&, const type::StringPtr&);
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/type/converter/Converter.cpp
new file mode 100644
index 000000000..a359f2b46
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/Converter.cpp
@@ -0,0 +1,30 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// Header
+#include "Converter.h"
+
+namespace armarx::aron::data::converter
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
new file mode 100644
index 000000000..a983de628
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
@@ -0,0 +1,263 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "../visitor/Visitor.h"
+#include "../rw/Reader.h"
+#include "../rw/Writer.h"
+
+namespace armarx::aron::type
+{
+ // prototypes
+ template <class ReaderImplementation, class WriterImplementation, class DerivedT>
+ requires isReader<ReaderImplementation> && isWriter<WriterImplementation>
+ struct Converter;
+
+ template <class T>
+ concept isConverter = std::is_base_of<Converter<typename T::ReaderType, typename T::WriterType, typename T::This>, T>::value;
+
+ template <class ConverterImplementation>
+ requires isConverter<ConverterImplementation>
+ typename ConverterImplementation::WriterReturnType readAndWrite(typename ConverterImplementation::ReaderInputType& o);
+
+ /// Converter struct providing the needed methods.
+ /// WriterImplementation is a writer class, TODO: add concepts
+ template <class ReaderImplementation, class WriterImplementation, class DerivedT>
+ requires isReader<ReaderImplementation> && isWriter<WriterImplementation>
+ struct Converter : virtual public Visitor<typename ReaderImplementation::InputType>
+ {
+ using WriterType = WriterImplementation;
+ using ReaderType = ReaderImplementation;
+ using This = DerivedT;
+ using WriterReturnType = typename WriterImplementation::ReturnType;
+ using ReaderInputType = typename ReaderImplementation::InputType;
+ using ReaderInputTypeNonConst = typename ReaderImplementation::InputTypeNonConst;
+
+ ReaderImplementation r;
+ WriterImplementation w;
+ WriterReturnType last_returned;
+
+ virtual ~Converter() = default;
+
+ void visitObject(ReaderInputType& o) final
+ {
+ std::map<std::string, ReaderInputTypeNonConst> elementsOfInput;
+ std::string name;
+ type::Maybe maybe;
+ std::map<std::string, WriterReturnType> elementsReturn;
+ r.readObject(o, name, elementsOfInput, maybe);
+ for (const auto& [key, value] : elementsOfInput)
+ {
+ auto converted = readAndWrite<DerivedT>(value);
+ elementsReturn.insert({key, converted});
+ }
+
+ last_returned = w.writeObject(name, maybe, elementsReturn);
+ }
+
+ void visitDict(ReaderInputType& o) final
+ {
+ ReaderInputTypeNonConst acceptedType;
+ type::Maybe maybe;
+ r.readDict(o, acceptedType, maybe);
+
+ auto converted = readAndWrite<DerivedT>(acceptedType);
+
+ last_returned = w.writeDict(maybe, converted);
+ };
+
+ void visitList(ReaderInputType& o) final
+ {
+ ReaderInputTypeNonConst acceptedType;
+ type::Maybe maybe;
+ r.readList(o, acceptedType, maybe);
+
+ auto converted = readAndWrite<DerivedT>(acceptedType);
+
+ last_returned = w.writeList(maybe, converted);
+ };
+
+ void visitPair(ReaderInputType& o) final
+ {
+ ReaderInputTypeNonConst acceptedType1;
+ ReaderInputTypeNonConst acceptedType2;
+ type::Maybe maybe;
+ r.readPair(o, acceptedType1, acceptedType2, maybe);
+
+ auto converted1 = readAndWrite<DerivedT>(acceptedType1);
+ auto converted2 = readAndWrite<DerivedT>(acceptedType2);
+
+ last_returned = w.writePair(maybe, converted1, converted2);
+ };
+
+ void visitTuple(ReaderInputType& o) final
+ {
+ std::vector<ReaderInputTypeNonConst> acceptedTypes;
+ std::vector<WriterReturnType> elementsReturn;
+ type::Maybe maybe;
+ r.readTuple(o, acceptedTypes, maybe);
+
+ for (const auto& el : acceptedTypes)
+ {
+ auto converted = readAndWrite<DerivedT>(el);
+ elementsReturn.push_back(converted);
+ }
+
+ last_returned = w.writeTuple(maybe, elementsReturn);
+ };
+
+ void visitNDArray(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ type::ndarray::ElementType type;
+ int ndim;
+ r.readNDArray(o, ndim, type, maybe);
+ last_returned = w.writeNDArray(ndim, type, maybe);
+ };
+
+ void visitMatrix(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ type::matrix::ElementType type;
+ int rows;
+ int cols;
+ r.readMatrix(o, rows, cols, type, maybe);
+ last_returned = w.writeMatrix(rows, cols, type, maybe);
+ };
+
+ void visitOrientation(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readOrientation(o, maybe);
+ last_returned = w.writeOrientation(maybe);
+ };
+
+ void visitQuaternion(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ type::quaternion::ElementType type;
+ r.readQuaternion(o, type, maybe);
+ last_returned = w.writeQuaternion(type, maybe);
+ };
+
+ void visitPosition(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readPosition(o, maybe);
+ last_returned = w.writePosition(maybe);
+ };
+
+ void visitPose(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readPose(o, maybe);
+ last_returned = w.writePose(maybe);
+ };
+
+ void visitImage(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ type::image::PixelType type;
+ r.readImage(o, type, maybe);
+ last_returned = w.writeImage(type, maybe);
+ };
+
+ void visitPointCloud(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ type::pointcloud::VoxelType type;
+ r.readPointCloud(o, type, maybe);
+ last_returned = w.writePointCloud(type, maybe);
+ };
+
+ void visitIntEnum(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ std::string name;
+ std::map<std::string, int> values;
+ r.readIntEnum(o, name, values, maybe);
+ last_returned = w.writeIntEnum(name, values, maybe);
+ };
+
+ void visitInt(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readInt(o, maybe);
+ last_returned = w.writeInt(maybe);
+ };
+
+ void visitLong(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readLong(o, maybe);
+ last_returned = w.writeLong(maybe);
+ };
+
+ void visitFloat(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readFloat(o, maybe);
+ last_returned = w.writeFloat(maybe);
+ };
+
+ void visitDouble(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readDouble(o, maybe);
+ last_returned = w.writeDouble(maybe);
+ };
+
+ void visitBool(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readBool(o, maybe);
+ last_returned = w.writeBool(maybe);
+ };
+
+ void visitString(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readString(o, maybe);
+ last_returned = w.writeString(maybe);
+ };
+
+ void visitTime(ReaderInputType& o) final
+ {
+ type::Maybe maybe;
+ r.readTime(o, maybe);
+ last_returned = w.writeTime(maybe);
+ };
+ };
+
+ /// the function to read from a variant and write to a writer T
+ /// returns the returntype of T
+ template <class ConverterImplementation>
+ requires isConverter<ConverterImplementation>
+ typename ConverterImplementation::WriterReturnType readAndWrite(typename ConverterImplementation::ReaderInputType& o)
+ {
+ ConverterImplementation v;
+ type::visit(v, o);
+ return v.last_returned;
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
new file mode 100644
index 000000000..6fdd176be
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.cpp
@@ -0,0 +1,30 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// Header
+#include "NlohmannJSONConverter.h"
+
+namespace armarx::aron::data::converter
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h b/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h
new file mode 100644
index 000000000..dd59bbd3f
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h
@@ -0,0 +1,56 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "../Converter.h"
+#include "../../visitor/nlohmannJSON/NlohmannJSONVisitor.h"
+#include "../../rw/reader/nlohmannJSON/NlohmannJSONReader.h"
+
+namespace armarx::aron::type
+{
+ /// Converter struct providing the needed call operators.
+ /// WriterImplementation is a writer class, TODO: add concept
+ template <class WriterImplementation, class DerivedT>
+ struct NlohmannJSONConverter :
+ virtual public Converter<aron::type::reader::NlohmannJSONReader, WriterImplementation, DerivedT>
+ {
+ using Base = Converter<aron::type::reader::NlohmannJSONReader, WriterImplementation, DerivedT>;
+
+ virtual ~NlohmannJSONConverter() = default;
+
+ type::Descriptor getDescriptor(typename Base::ReaderInputType& n) final
+ {
+ return ConstNlohmannJSONVisitor::GetDescriptor(n);
+ }
+
+ void visitUnknown(typename Base::ReaderInputType& o) final
+ {
+ if (!this->r.readNull(o))
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "A visitor got data but the enum is unknown.");
+ }
+ this->w.writeNull();
+ }
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.cpp b/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.cpp
new file mode 100644
index 000000000..b4cc04ee1
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.cpp
@@ -0,0 +1,30 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// Header
+#include "VariantConverter.h"
+
+namespace armarx::aron::data::converter
+{
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h b/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h
new file mode 100644
index 000000000..69a563dc1
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h
@@ -0,0 +1,57 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "../Converter.h"
+#include "../../visitor/variant/VariantVisitor.h"
+#include "../../rw/reader/variant/VariantReader.h"
+
+
+namespace armarx::aron::type
+{
+ /// Converter struct providing the needed call operators.
+ /// WriterImplementation is a writer class, TODO: add concept
+ template <class WriterImplementation, class DerivedT>
+ struct VariantConverter :
+ virtual public Converter<aron::type::reader::VariantReader, WriterImplementation, DerivedT>
+ {
+ using Base = Converter<aron::type::reader::VariantReader, WriterImplementation, DerivedT>;
+
+ virtual ~VariantConverter() = default;
+
+ type::Descriptor getDescriptor(typename Base::ReaderInputType& n) final
+ {
+ return ConstVariantVisitor::GetDescriptor(n);
+ }
+
+ virtual void visitUnknown(typename Base::ReaderInputType& o) final
+ {
+ if (!this->r.readNull(o))
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "A visitor got type but the enum is unknown.");
+ }
+ this->w.writeNull();
+ }
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
index 00dfea092..61d457807 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
@@ -34,27 +34,29 @@ namespace armarx::aron::type
/**
* @brief The ReaderInterface class. It defines the interface to extract information from an aron representation
*/
- template <class InputType>
+ template <class I>
class ReaderInterface
{
public:
+ using InputType = I;
+ using InputTypeNonConst = typename std::remove_const<InputType>::type;
virtual ~ReaderInterface() = default;
/// Extract information from an Object type
- virtual void readObject(const InputType& input, std::string& name, std::map<std::string, InputType>& memberTypes, type::Maybe& maybe) = 0;
+ virtual void readObject(const InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe) = 0;
/// Extract information from a list type
- virtual void readList(const InputType& input, InputType& acceptedType, type::Maybe& maybe) = 0;
+ virtual void readList(const InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) = 0;
/// Extract information from a dict type
- virtual void readDict(const InputType& input, InputType& acceptedType, type::Maybe& maybe) = 0;
+ virtual void readDict(const InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) = 0;
/// Extract information from a tuple type
- virtual void readTuple(const InputType& input, std::vector<InputType>& acceptedTypes, type::Maybe& maybe) = 0;
+ virtual void readTuple(const InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe) = 0;
/// Extract information from a pair type
- virtual void readPair(const InputType& input, std::pair<InputType, InputType>& acceptedTypes, type::Maybe& maybe) = 0;
+ virtual void readPair(const InputType& input, InputTypeNonConst& acceptedTypes1, InputTypeNonConst& acceptedTypes2, type::Maybe& maybe) = 0;
/// Extract information from a ndarray type
virtual void readNDArray(const InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe) = 0;
@@ -103,5 +105,15 @@ namespace armarx::aron::type
/// Extract information from an time type
virtual void readTime(const InputType& input, type::Maybe& maybe) = 0;
+
+ /// Check if input is null
+ virtual bool readNull(InputType& input) // defaulted implementation
+ {
+ InputType nil = {};
+ return input == nil;
+ }
};
+
+ template <class T>
+ concept isReader = std::is_base_of<ReaderInterface<typename T::InputType>, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
index e0f0620a4..256aba2d3 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
@@ -34,10 +34,11 @@ namespace armarx::aron::type
/**
* @brief The WriterInterface class. It defines the interface to construct aron representations (e.g. variant or nlohmann::json)
*/
- template <class ReturnType>
+ template <class R>
class WriterInterface
{
public:
+ using ReturnType = R;
virtual ~WriterInterface() = default;
@@ -103,5 +104,14 @@ namespace armarx::aron::type
/// Construct a time from the params
virtual ReturnType writeTime(const type::Maybe maybe) = 0;
+
+ /// write a null
+ virtual ReturnType writeNull() // defaulted implementation
+ {
+ return {};
+ }
};
+
+ template <class T>
+ concept isWriter = std::is_base_of<WriterInterface<typename T::ReturnType>, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 0ffd1fe1e..eefe1e62e 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -76,14 +76,14 @@ namespace armarx::aron::type::reader
acceptedTypes = input[rw::json::constantes::ACCEPTED_TYPE_SLUG].get<std::vector<nlohmann::json>>();
}
- void NlohmannJSONReader::readPair(const nlohmann::json& input, std::pair<nlohmann::json, nlohmann::json>& acceptedTypes, type::Maybe& maybe)
+ void NlohmannJSONReader::readPair(const nlohmann::json& input, nlohmann::json& acceptedType1, nlohmann::json& acceptedType2, type::Maybe& maybe)
{
checkInputForCorrectType(input, rw::json::constantes::PAIR_TYPENAME_SLUG);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
auto list = input[rw::json::constantes::ACCEPTED_TYPE_SLUG].get<std::vector<nlohmann::json>>();
- acceptedTypes.first = list[0];
- acceptedTypes.second = list[1];
+ acceptedType1 = list[0];
+ acceptedType2 = list[1];
}
void NlohmannJSONReader::readNDArray(const nlohmann::json& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe)
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
index 45b0a7950..555aa43e8 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -33,35 +33,35 @@
namespace armarx::aron::type::reader
{
class NlohmannJSONReader :
- public ReaderInterface<nlohmann::json>
+ public ReaderInterface<const nlohmann::json>
{
public:
// constructors
NlohmannJSONReader() = default;
- void readObject(const nlohmann::json& input, std::string& name, std::map<std::string, nlohmann::json>& memberTypes, type::Maybe& maybe) override;
- void readList(const nlohmann::json& input, nlohmann::json& acceptedType, type::Maybe& maybe) override;
- void readDict(const nlohmann::json& input, nlohmann::json& acceptedType, type::Maybe& maybe) override;
- void readTuple(const nlohmann::json& input, std::vector<nlohmann::json>& acceptedTypes, type::Maybe& maybe) override;
- void readPair(const nlohmann::json& input, std::pair<nlohmann::json, nlohmann::json>& acceptedTypes, type::Maybe& maybe) override;
+ void readObject(InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe) override;
- void readNDArray(const nlohmann::json& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe) override;
- void readMatrix(const nlohmann::json& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe) override;
- void readQuaternion(const nlohmann::json& input, type::quaternion::ElementType& type, type::Maybe& maybe) override;
- void readPointCloud(const nlohmann::json& input, type::pointcloud::VoxelType& type, type::Maybe& maybe) override;
- void readImage(const nlohmann::json& input, type::image::PixelType& type, type::Maybe& maybe) override;
- void readPosition(const nlohmann::json& input, type::Maybe& maybe) override;
- void readOrientation(const nlohmann::json& input, type::Maybe& maybe) override;
- void readPose(const nlohmann::json& input, type::Maybe& maybe) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe) override;
+ void readPosition(InputType& input, type::Maybe& maybe) override;
+ void readOrientation(InputType& input, type::Maybe& maybe) override;
+ void readPose(InputType& input, type::Maybe& maybe) override;
- void readIntEnum(const nlohmann::json& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe) override;
- void readInt(const nlohmann::json& input, type::Maybe& maybe) override;
- void readLong(const nlohmann::json& input, type::Maybe& maybe) override;
- void readFloat(const nlohmann::json& input, type::Maybe& maybe) override;
- void readDouble(const nlohmann::json& input, type::Maybe& maybe) override;
- void readString(const nlohmann::json& input, type::Maybe& maybe) override;
- void readBool(const nlohmann::json& input, type::Maybe& maybe) override;
- void readTime(const nlohmann::json& input, type::Maybe& maybe) override;
+ void readInt(InputType& input, type::Maybe& maybe) override;
+ void readLong(InputType& input, type::Maybe& maybe) override;
+ void readFloat(InputType& input, type::Maybe& maybe) override;
+ void readDouble(InputType& input, type::Maybe& maybe) override;
+ void readString(InputType& input, type::Maybe& maybe) override;
+ void readBool(InputType& input, type::Maybe& maybe) override;
+ void readTime(InputType& input, type::Maybe& maybe) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
index 1be314139..2568a1543 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.cpp
@@ -32,7 +32,7 @@
namespace armarx::aron::type::reader
{
- void NavigatorReader::readObject(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, aron::type::VariantPtr>& memberTypes, type::Maybe& maybe)
+ void VariantReader::readObject(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, aron::type::VariantPtr>& memberTypes, type::Maybe& maybe)
{
auto o = type::Object::DynamicCastAndCheck(input);
@@ -40,7 +40,7 @@ namespace armarx::aron::type::reader
maybe = o->getMaybe();
memberTypes = o->getMemberTypes();
}
- void NavigatorReader::readList(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe)
+ void VariantReader::readList(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe)
{
auto o = type::List::DynamicCastAndCheck(input);
@@ -48,7 +48,7 @@ namespace armarx::aron::type::reader
acceptedType = o->getAcceptedType();
}
- void NavigatorReader::readDict(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe)
+ void VariantReader::readDict(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe)
{
auto o = type::Dict::DynamicCastAndCheck(input);
@@ -56,7 +56,7 @@ namespace armarx::aron::type::reader
acceptedType = o->getAcceptedType();
}
- void NavigatorReader::readTuple(const aron::type::VariantPtr& input, std::vector<aron::type::VariantPtr>& acceptedTypes, type::Maybe& maybe)
+ void VariantReader::readTuple(const aron::type::VariantPtr& input, std::vector<aron::type::VariantPtr>& acceptedTypes, type::Maybe& maybe)
{
auto o = type::Tuple::DynamicCastAndCheck(input);
@@ -64,15 +64,16 @@ namespace armarx::aron::type::reader
acceptedTypes = o->getAcceptedTypes();
}
- void NavigatorReader::readPair(const aron::type::VariantPtr& input, std::pair<aron::type::VariantPtr, aron::type::VariantPtr>& acceptedTypes, type::Maybe& maybe)
+ void VariantReader::readPair(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType1, aron::type::VariantPtr& acceptedType2, type::Maybe& maybe)
{
auto o = type::Pair::DynamicCastAndCheck(input);
maybe = o->getMaybe();
- acceptedTypes = o->getAcceptedTypes();
+ acceptedType1 = o->getAcceptedTypes().first;
+ acceptedType2 = o->getAcceptedTypes().second;
}
- void NavigatorReader::readNDArray(const aron::type::VariantPtr& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe)
+ void VariantReader::readNDArray(const aron::type::VariantPtr& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe)
{
auto o = type::NDArray::DynamicCastAndCheck(input);
@@ -81,7 +82,7 @@ namespace armarx::aron::type::reader
type = o->getElementType();
}
- void NavigatorReader::readMatrix(const aron::type::VariantPtr& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe)
+ void VariantReader::readMatrix(const aron::type::VariantPtr& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe)
{
auto o = type::Matrix::DynamicCastAndCheck(input);
@@ -91,7 +92,7 @@ namespace armarx::aron::type::reader
type = o->getElementType();
}
- void NavigatorReader::readQuaternion(const aron::type::VariantPtr& input, type::quaternion::ElementType& type, type::Maybe& maybe)
+ void VariantReader::readQuaternion(const aron::type::VariantPtr& input, type::quaternion::ElementType& type, type::Maybe& maybe)
{
auto o = type::Quaternion::DynamicCastAndCheck(input);
@@ -99,7 +100,7 @@ namespace armarx::aron::type::reader
type = o->getElementType();
}
- void NavigatorReader::readPointCloud(const aron::type::VariantPtr& input, type::pointcloud::VoxelType& type, type::Maybe& maybe)
+ void VariantReader::readPointCloud(const aron::type::VariantPtr& input, type::pointcloud::VoxelType& type, type::Maybe& maybe)
{
auto o = type::PointCloud::DynamicCastAndCheck(input);
@@ -107,7 +108,7 @@ namespace armarx::aron::type::reader
type = o->getVoxelType();
}
- void NavigatorReader::readImage(const aron::type::VariantPtr& input, type::image::PixelType& type, type::Maybe& maybe)
+ void VariantReader::readImage(const aron::type::VariantPtr& input, type::image::PixelType& type, type::Maybe& maybe)
{
auto o = type::Image::DynamicCastAndCheck(input);
@@ -115,28 +116,28 @@ namespace armarx::aron::type::reader
type = o->getPixelType();
}
- void NavigatorReader::readPosition(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readPosition(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Position::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readOrientation(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readOrientation(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Orientation::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readPose(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readPose(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Pose::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readIntEnum(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe)
+ void VariantReader::readIntEnum(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe)
{
auto o = type::IntEnum::DynamicCastAndCheck(input);
@@ -145,49 +146,49 @@ namespace armarx::aron::type::reader
maybe = o->getMaybe();
}
- void NavigatorReader::readInt(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readInt(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Int::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readLong(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readLong(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Long::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readFloat(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readFloat(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Float::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readDouble(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readDouble(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Double::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readString(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readString(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::String::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readBool(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readBool(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Bool::DynamicCastAndCheck(input);
maybe = o->getMaybe();
}
- void NavigatorReader::readTime(const aron::type::VariantPtr& input, type::Maybe& maybe)
+ void VariantReader::readTime(const aron::type::VariantPtr& input, type::Maybe& maybe)
{
auto o = type::Time::DynamicCastAndCheck(input);
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
index 3a453e6a1..6ce41ec96 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h
@@ -33,36 +33,36 @@
namespace armarx::aron::type::reader
{
- class NavigatorReader :
- public ReaderInterface<aron::type::VariantPtr>
+ class VariantReader :
+ public ReaderInterface<const aron::type::VariantPtr>
{
public:
// constructors
- NavigatorReader() = default;
+ VariantReader() = default;
- void readObject(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, aron::type::VariantPtr>& memberTypes, type::Maybe& maybe) override;
- void readList(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe) override;
- void readDict(const aron::type::VariantPtr& input, aron::type::VariantPtr& acceptedType, type::Maybe& maybe) override;
- void readTuple(const aron::type::VariantPtr& input, std::vector<aron::type::VariantPtr>& acceptedTypes, type::Maybe& maybe) override;
- void readPair(const aron::type::VariantPtr& input, std::pair<aron::type::VariantPtr, aron::type::VariantPtr>& acceptedTypes, type::Maybe& maybe) override;
+ void readObject(InputType& input, std::string& name, std::map<std::string, InputTypeNonConst>& memberTypes, type::Maybe& maybe) override;
+ void readList(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) override;
+ void readDict(InputType& input, InputTypeNonConst& acceptedType, type::Maybe& maybe) override;
+ void readTuple(InputType& input, std::vector<InputTypeNonConst>& acceptedTypes, type::Maybe& maybe) override;
+ void readPair(InputType& input, InputTypeNonConst& acceptedType1, InputTypeNonConst& acceptedType2, type::Maybe& maybe) override;
- void readNDArray(const aron::type::VariantPtr& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe) override;
- void readMatrix(const aron::type::VariantPtr& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe) override;
- void readQuaternion(const aron::type::VariantPtr& input, type::quaternion::ElementType& type, type::Maybe& maybe) override;
- void readPointCloud(const aron::type::VariantPtr& input, type::pointcloud::VoxelType& type, type::Maybe& maybe) override;
- void readImage(const aron::type::VariantPtr& input, type::image::PixelType& type, type::Maybe& maybe) override;
- void readPosition(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readOrientation(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readPose(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
+ void readNDArray(InputType& input, int& ndim, type::ndarray::ElementType& type, type::Maybe& maybe) override;
+ void readMatrix(InputType& input, int& rows, int& cols, type::matrix::ElementType& type, type::Maybe& maybe) override;
+ void readQuaternion(InputType& input, type::quaternion::ElementType& type, type::Maybe& maybe) override;
+ void readPointCloud(InputType& input, type::pointcloud::VoxelType& type, type::Maybe& maybe) override;
+ void readImage(InputType& input, type::image::PixelType& type, type::Maybe& maybe) override;
+ void readPosition(InputType& input, type::Maybe& maybe) override;
+ void readOrientation(InputType& input, type::Maybe& maybe) override;
+ void readPose(InputType& input, type::Maybe& maybe) override;
- void readIntEnum(const aron::type::VariantPtr& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe) override;
+ void readIntEnum(InputType& input, std::string& name, std::map<std::string, int>& acceptedValues, type::Maybe& maybe) override;
- void readInt(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readLong(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readFloat(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readDouble(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readString(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readBool(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
- void readTime(const aron::type::VariantPtr& input, type::Maybe& maybe) override;
+ void readInt(InputType& input, type::Maybe& maybe) override;
+ void readLong(InputType& input, type::Maybe& maybe) override;
+ void readFloat(InputType& input, type::Maybe& maybe) override;
+ void readDouble(InputType& input, type::Maybe& maybe) override;
+ void readString(InputType& input, type::Maybe& maybe) override;
+ void readBool(InputType& input, type::Maybe& maybe) override;
+ void readTime(InputType& input, type::Maybe& maybe) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
index c52035d64..0733514e9 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -39,29 +39,29 @@ namespace armarx::aron::type::writer
public:
NlohmannJSONWriter() = default;
- virtual nlohmann::json writeObject(const std::string& name, const type::Maybe maybe, const std::map<std::string, nlohmann::json>& memberTypes, const std::optional<nlohmann::json>& extends = std::nullopt) override;
- virtual nlohmann::json writeList(const type::Maybe maybe, const nlohmann::json& acceptedType) override;
- virtual nlohmann::json writeDict(const type::Maybe maybe, const nlohmann::json& acceptedType) override;
- virtual nlohmann::json writePair(const type::Maybe maybe, const nlohmann::json& acceptedType1, const nlohmann::json& acceptedType2) override;
- virtual nlohmann::json writeTuple(const type::Maybe maybe, const std::vector<nlohmann::json>& acceptedTypes) override;
+ virtual ReturnType writeObject(const std::string& name, const type::Maybe maybe, const std::map<std::string, ReturnType>& memberTypes, const std::optional<ReturnType>& extends = std::nullopt) override;
+ virtual ReturnType writeList(const type::Maybe maybe, const ReturnType& acceptedType) override;
+ virtual ReturnType writeDict(const type::Maybe maybe, const ReturnType& acceptedType) override;
+ virtual ReturnType writePair(const type::Maybe maybe, const ReturnType& acceptedType1, const ReturnType& acceptedType2) override;
+ virtual ReturnType writeTuple(const type::Maybe maybe, const std::vector<ReturnType>& acceptedTypes) override;
- virtual nlohmann::json writeNDArray(const int ndim, const type::ndarray::ElementType, const type::Maybe maybe) override;
- virtual nlohmann::json writeMatrix(const int rows, const int cols, const type::matrix::ElementType type, const type::Maybe maybe) override;
- virtual nlohmann::json writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe) override;
- virtual nlohmann::json writeImage(const type::image::PixelType, const type::Maybe maybe) override;
- virtual nlohmann::json writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe) override;
- virtual nlohmann::json writePosition(const type::Maybe maybe) override;
- virtual nlohmann::json writeOrientation(const type::Maybe maybe) override;
- virtual nlohmann::json writePose(const type::Maybe maybe) override;
+ virtual ReturnType writeNDArray(const int ndim, const type::ndarray::ElementType, const type::Maybe maybe) override;
+ virtual ReturnType writeMatrix(const int rows, const int cols, const type::matrix::ElementType type, const type::Maybe maybe) override;
+ virtual ReturnType writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe) override;
+ virtual ReturnType writeImage(const type::image::PixelType, const type::Maybe maybe) override;
+ virtual ReturnType writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe) override;
+ virtual ReturnType writePosition(const type::Maybe maybe) override;
+ virtual ReturnType writeOrientation(const type::Maybe maybe) override;
+ virtual ReturnType writePose(const type::Maybe maybe) override;
- virtual nlohmann::json writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe) override;
+ virtual ReturnType writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe) override;
- virtual nlohmann::json writeInt(const type::Maybe maybe) override;
- virtual nlohmann::json writeLong(const type::Maybe maybe) override;
- virtual nlohmann::json writeFloat(const type::Maybe maybe) override;
- virtual nlohmann::json writeDouble(const type::Maybe maybe) override;
- virtual nlohmann::json writeString(const type::Maybe maybe) override;
- virtual nlohmann::json writeBool(const type::Maybe maybe) override;
- virtual nlohmann::json writeTime(const type::Maybe maybe) override;
+ virtual ReturnType writeInt(const type::Maybe maybe) override;
+ virtual ReturnType writeLong(const type::Maybe maybe) override;
+ virtual ReturnType writeFloat(const type::Maybe maybe) override;
+ virtual ReturnType writeDouble(const type::Maybe maybe) override;
+ virtual ReturnType writeString(const type::Maybe maybe) override;
+ virtual ReturnType writeBool(const type::Maybe maybe) override;
+ virtual ReturnType writeTime(const type::Maybe maybe) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
index c2f105629..3a17a435e 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h
@@ -35,29 +35,29 @@ namespace armarx::aron::type::writer
public:
VariantWriter() = default;
- virtual aron::type::VariantPtr writeObject(const std::string& name, const type::Maybe maybe, const std::map<std::string, aron::type::VariantPtr>& memberTypes, const std::optional<aron::type::VariantPtr>& extends = std::nullopt) override;
- virtual aron::type::VariantPtr writeList(const type::Maybe maybe, const aron::type::VariantPtr& acceptedType) override;
- virtual aron::type::VariantPtr writeDict(const type::Maybe maybe, const aron::type::VariantPtr& acceptedType) override;
- virtual aron::type::VariantPtr writePair(const type::Maybe maybe, const aron::type::VariantPtr& acceptedType1, const aron::type::VariantPtr& acceptedType2) override;
- virtual aron::type::VariantPtr writeTuple(const type::Maybe maybe, const std::vector<aron::type::VariantPtr>& acceptedTypes) override;
-
- virtual aron::type::VariantPtr writeNDArray(const int ndim, const type::ndarray::ElementType, const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeMatrix(const int rows, const int cols, const type::matrix::ElementType type, const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeImage(const type::image::PixelType, const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writePosition(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeOrientation(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writePose(const type::Maybe maybe) override;
-
- virtual aron::type::VariantPtr writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe) override;
-
- virtual aron::type::VariantPtr writeInt(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeLong(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeFloat(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeDouble(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeString(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeBool(const type::Maybe maybe) override;
- virtual aron::type::VariantPtr writeTime(const type::Maybe maybe) override;
+ virtual ReturnType writeObject(const std::string& name, const type::Maybe maybe, const std::map<std::string, ReturnType>& memberTypes, const std::optional<ReturnType>& extends = std::nullopt) override;
+ virtual ReturnType writeList(const type::Maybe maybe, const ReturnType& acceptedType) override;
+ virtual ReturnType writeDict(const type::Maybe maybe, const ReturnType& acceptedType) override;
+ virtual ReturnType writePair(const type::Maybe maybe, const ReturnType& acceptedType1, const ReturnType& acceptedType2) override;
+ virtual ReturnType writeTuple(const type::Maybe maybe, const std::vector<ReturnType>& acceptedTypes) override;
+
+ virtual ReturnType writeNDArray(const int ndim, const type::ndarray::ElementType, const type::Maybe maybe) override;
+ virtual ReturnType writeMatrix(const int rows, const int cols, const type::matrix::ElementType type, const type::Maybe maybe) override;
+ virtual ReturnType writeQuaternion(const type::quaternion::ElementType, const type::Maybe maybe) override;
+ virtual ReturnType writeImage(const type::image::PixelType, const type::Maybe maybe) override;
+ virtual ReturnType writePointCloud(const type::pointcloud::VoxelType, const type::Maybe maybe) override;
+ virtual ReturnType writePosition(const type::Maybe maybe) override;
+ virtual ReturnType writeOrientation(const type::Maybe maybe) override;
+ virtual ReturnType writePose(const type::Maybe maybe) override;
+
+ virtual ReturnType writeIntEnum(const std::string& name, const std::map<std::string, int>& acceptedValues, const type::Maybe maybe) override;
+
+ virtual ReturnType writeInt(const type::Maybe maybe) override;
+ virtual ReturnType writeLong(const type::Maybe maybe) override;
+ virtual ReturnType writeFloat(const type::Maybe maybe) override;
+ virtual ReturnType writeDouble(const type::Maybe maybe) override;
+ virtual ReturnType writeString(const type::Maybe maybe) override;
+ virtual ReturnType writeBool(const type::Maybe maybe) override;
+ virtual ReturnType writeTime(const type::Maybe maybe) override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
index 3b189122e..faaf06cdc 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
@@ -135,4 +135,7 @@ namespace armarx::aron::type
private:
static const VariantFactoryPtr FACTORY;
};
+
+ template <class T>
+ concept isVariant = std::is_base_of<Variant, T>::value;
}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp b/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
index b99a9228c..528fe3577 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.cpp
@@ -26,13 +26,13 @@
namespace armarx::aron::type
{
- type::Descriptor NlohmannJSONVisitor::GetDescriptor(Input& n)
+ type::Descriptor ConstNlohmannJSONVisitor::GetDescriptor(Input& n)
{
std::string t = n[armarx::aron::type::rw::json::constantes::TYPE_SLUG];
return armarx::aron::type::rw::json::conversion::String2Descriptor.at(t);
}
- type::Descriptor NlohmannJSONVisitor::getDescriptor(Input& n)
+ type::Descriptor ConstNlohmannJSONVisitor::getDescriptor(Input& n)
{
return GetDescriptor(n);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.h
index 9618654d0..b56b4ab1c 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.h
@@ -38,11 +38,11 @@ namespace armarx::aron::type
/**
* @brief The NlohmannJSONVisitor struct. Already implements the method to get the descriptor of a nlohmann::json
*/
- struct NlohmannJSONVisitor : virtual public Visitor<const nlohmann::json>
+ struct ConstNlohmannJSONVisitor : virtual public Visitor<const nlohmann::json>
{
static type::Descriptor GetDescriptor(Input& n);
type::Descriptor getDescriptor(Input& n) override;
- virtual ~NlohmannJSONVisitor() = default;
+ virtual ~ConstNlohmannJSONVisitor() = default;
};
// TODO
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
index a6fa9e7dc..ae5b60e7f 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
@@ -33,6 +33,10 @@ namespace armarx::aron::type
***************************************************************************/
type::Descriptor ConstVariantVisitor::GetDescriptor(Input& n)
{
+ if (!n)
+ {
+ return type::Descriptor::eUnknown;
+ }
return n->getDescriptor();
}
@@ -41,7 +45,6 @@ namespace armarx::aron::type
return GetDescriptor(n);
}
-
/****************************************************************************
* RecursiveVariantVisitor
***************************************************************************/
--
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