diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index d40861c7613951de469ed29093b99e2e0e29e1f2..dc88e0484490476691ee98e3c3bf338964c02e6d 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -24,11 +24,16 @@
RUN_ARON_MACRO(String, string, STRING) \
RUN_ARON_MACRO(Bool, bool, BOOL)
+#define ARON_VERSION "beta 0.2.2"
+
+
module armarx
{
module aron
{
+ const string VERSION = ARON_VERSION;
+
/*************************
* General Definitions ***
************************/
@@ -53,6 +58,7 @@ module armarx
};
class AronType {
+ //string VERSION = ARON_VERSION;
Maybe maybe = Maybe::eNone; // Every type can have a maye type flag or not
}
sequence<AronType> AronTypeList;
@@ -93,7 +99,9 @@ module armarx
************************/
module data
{
- class AronData { };
+ class AronData {
+ //string VERSION = ARON_VERSION;
+ };
sequence<AronData> AronDataList;
dictionary<string, AronData> AronDataDict;
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 2d8319dc9f6517c41e9a38225ad4dbd11b9ae607..46d4b1014dba8dfe1ed59a8343395b9063e4050d 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -242,7 +242,7 @@ namespace armarx::armem::robot_state
template <typename AronClass>
std::optional<AronClass> tryCast(const wm::EntityInstance& item)
{
- static_assert(std::is_base_of<armarx::aron::cppcodegenerator::AronCppClass,
+ static_assert(std::is_base_of<armarx::aron::cppserializer::AronCppClass,
AronClass>::value);
try
@@ -327,4 +327,4 @@ namespace armarx::armem::robot_state
return robot::convertRobotDescription(instance);
}
-} // namespace armarx::armem::robot_state
\ No newline at end of file
+} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/libraries/aron/core/Descriptor.h b/source/RobotAPI/libraries/aron/core/Descriptor.h
index de3493429af6d051cec8d0d3f473b41f218a522b..10833d329cfec0d594375a1c12d9f83b28c46570 100644
--- a/source/RobotAPI/libraries/aron/core/Descriptor.h
+++ b/source/RobotAPI/libraries/aron/core/Descriptor.h
@@ -46,7 +46,7 @@ namespace armarx::aron::type
eUnknown = -1
};
- const std::map<type::Descriptor, std::string> _descriptorstring =
+ const std::map<type::Descriptor, std::string> _descriptor2string =
{
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
{ Descriptor::e##upperType, "armarx::aron::type::Descriptor::e" + std::string(#upperType) },
@@ -58,10 +58,10 @@ namespace armarx::aron::type
inline std::string DESCRIPTOR_TO_STRING(const type::Descriptor d)
{
- return type::_descriptorstring.at(d);
+ return type::_descriptor2string.at(d);
}
- const std::map<type::Maybe, std::string> _maybestring =
+ const std::map<type::Maybe, std::string> _maybe2string =
{
{type::Maybe::eNone, "armarx::aron::type::Maybe::eNone"},
{type::Maybe::eOptional, "armarx::aron::type::Maybe::eOptional"},
@@ -72,7 +72,28 @@ namespace armarx::aron::type
inline std::string MAYBE_TO_STRING(const type::Maybe d)
{
- return type::_maybestring.at(d);
+ return type::_maybe2string.at(d);
+ }
+
+ const std::map<std::string, type::Descriptor> _string2descriptor =
+ {
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ { "armarx::aron::type::Descriptor::e" + std::string(#upperType), Descriptor::e##upperType }, \
+ { std::string(#upperType), Descriptor::e##upperType }, \
+ { std::string(#lowerType), Descriptor::e##upperType }, \
+ { std::string(#capsType), Descriptor::e##upperType },
+
+ HANDLE_ALL_ARON_TYPES
+#undef RUN_ARON_MACRO
+ {"armarx::aron::type::Descriptor::eUnknown", Descriptor::eUnknown},
+ {"Unknown", Descriptor::eUnknown},
+ {"unknown", Descriptor::eUnknown},
+ {"UNKNOWN", Descriptor::eUnknown}
+ };
+
+ inline type::Descriptor STRING_TO_DESCRIPTOR(const std::string& s)
+ {
+ return type::_string2descriptor.at(s);
}
}
@@ -88,7 +109,7 @@ namespace armarx::aron::data
eUnknown = -1
};
- const std::map<data::Descriptor, std::string> _descriptorstring =
+ const std::map<data::Descriptor, std::string> _descriptor2string =
{
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
{ Descriptor::e##upperType, "armarx::aron::data::Descriptor::e" + std::string(#upperType) },
@@ -100,6 +121,27 @@ namespace armarx::aron::data
inline std::string DESCRIPTOR_TO_STRING(const data::Descriptor d)
{
- return data::_descriptorstring.at(d);
+ return data::_descriptor2string.at(d);
+ }
+
+ const std::map<std::string, data::Descriptor> _string2descriptor =
+ {
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ { "armarx::aron::data::Descriptor::e" + std::string(#upperType), Descriptor::e##upperType }, \
+ { std::string(#upperType), Descriptor::e##upperType }, \
+ { std::string(#lowerType), Descriptor::e##upperType }, \
+ { std::string(#capsType), Descriptor::e##upperType },
+
+ HANDLE_ALL_ARON_DATA
+#undef RUN_ARON_MACRO
+ {"armarx::aron::data::Descriptor::eUnknown", Descriptor::eUnknown},
+ {"Unknown", Descriptor::eUnknown},
+ {"unknown", Descriptor::eUnknown},
+ {"UNKNOWN", Descriptor::eUnknown}
+ };
+
+ inline data::Descriptor STRING_TO_DESCRIPTOR(const std::string& s)
+ {
+ return data::_string2descriptor.at(s);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/Exception.h b/source/RobotAPI/libraries/aron/core/Exception.h
index 5bd308a21ec12862a8a8c7859e3b7dc40f827f15..025328edaa8360ed6a31864b91d4dcb030c8ff60 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.h
+++ b/source/RobotAPI/libraries/aron/core/Exception.h
@@ -158,6 +158,18 @@ namespace armarx::aron::error
{
}
+
+ StringNotValidException(const std::string& caller, const std::string& method, const std::string& reason, const std::string& input, const std::string& expectation) :
+ AronException(caller, method, reason + ". Got: " + input + ". Expected: " + expectation)
+ {
+
+ }
+
+ StringNotValidException(const std::string& caller, const std::string& method, const std::string& reason, const std::string& input, const std::string& expectation, const Path& path) :
+ AronException(caller, method, reason + ". Got: " + input + ". Expected: " + expectation, path)
+ {
+
+ }
};
class IndexNotValidException :
diff --git a/source/RobotAPI/libraries/aron/core/io/Data.h b/source/RobotAPI/libraries/aron/core/io/Data.h
index 717ab255c523f727a9b150f6ed3d360acb08c421..6f9fe8ca878a6f7a8f697af1295fd6f0ccbe581b 100644
--- a/source/RobotAPI/libraries/aron/core/io/Data.h
+++ b/source/RobotAPI/libraries/aron/core/io/Data.h
@@ -26,7 +26,7 @@
// ArmarX
#include <ArmarXCore/core/exceptions/Exception.h>
-
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
#include <RobotAPI/libraries/aron/core/Config.h>
@@ -39,9 +39,13 @@ namespace armarx::aron::io
Data() = delete;
public:
- // TODO: Remove copy from ReaderWriter
- static constexpr const char* READER_WRITER_NAME_SLUG = "__ARON_NAME";
- static constexpr const char* READER_WRITER_MAYBE_SLUG = "__MAYBE";
+ static constexpr const char* READER_WRITER_MAYBE_SLUG = "__ARON_MAYBE";
+ static constexpr const char* READER_WRITER_TYPE_SLUG = "__ARON_TYPE";
+ static constexpr const char* READER_WRITER_VERSION_SLUG = "__ARON_VERSION";
+
+ static constexpr const char* READER_WRITER_VALUE_SLUG = "__ARON_VALUE";
+
+ static constexpr const char* READER_WRITER_OBJECT_NAME_SLUG = "__ARON_OBJECT_NAME";
static constexpr const char* READER_WRITER_DICT_ACCEPTED_TYPE_SLUG = "__ARON_DICT_ACCEPTED_TYPE";
static constexpr const char* READER_WRITER_LIST_ACCEPTED_TYPE_SLUG = "__ARON_LIST_ACCEPTED_TYPE";
@@ -52,15 +56,12 @@ namespace armarx::aron::io
static constexpr const char* READER_WRITER_NDARRAY_DATA_SLUG = "__ARON_NDARRAY_DATA";
static constexpr const char* READER_WRITER_INT_ENUM_NAME_SLUG = "__ARON_INT_ENUM_NAME";
- static constexpr const char* READER_WRITER_INT_ENUM_VALUE_SLUG = "__ARON_INT_ENUM_VALUE";
static constexpr const char* READER_WRITER_ENUM_KEY_SLUG = "__ARON_ENUM_KEY";
- static constexpr const char* READER_WRITER_PRIMITIVE_NAME_SLUG = "__ARON_PRIMITIVE_NAME";
-
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
static constexpr const char* READER_WRITER_##capsType##_TYPENAME_SLUG = #capsType;
- HANDLE_PRIMITIVE_TYPES
+ HANDLE_ALL_ARON_TYPES
#undef RUN_ARON_MACRO
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
index ac4ee93d1a485b171859455f7ba9522eb09ba59a..8191457b3895e5dfaaae4b2e4603fae3b518261e 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/Reader.h
@@ -79,6 +79,6 @@ namespace armarx::aron::dataIO
virtual void loadMember(const std::string&) = 0;
// Helper functions
- virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const = 0;
+ virtual data::Descriptor getTypeOfNext() const = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
index a7629cd5ca59cf7f5af11adfb4cb0305fe94db23..1e124a8080ec1ec5aa53b8563068b1c0b176e2d1 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.cpp
@@ -35,7 +35,10 @@ namespace armarx::aron::dataIO
{
type::Descriptor t_desc = expectedStructure != nullptr ? expectedStructure->getDescriptor() : type::Descriptor::eUnknown;
//std::cout << "Expected Structure: " << type::DESCRIPTOR_TO_STRING(t_desc) << std::endl;
- data::Descriptor desc = reader.getTypeOfNext(t_desc);
+ data::Descriptor desc = reader.getTypeOfNext();
+
+ // TODO check expected type and read type
+
switch (desc)
{
case data::Descriptor::eDict:
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
index 9e22a2acd622c4d38c1dd923445c91c9760208e7..fc3868d16583dd7de9bd2712029b56ce67a7d884 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/ReaderToken.h
@@ -45,7 +45,7 @@ namespace armarx::aron::dataIO
// Interface
- virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const = 0;
+ virtual data::Descriptor getTypeOfNext() const = 0;
virtual ElementTypename getNextElement() const = 0;
virtual bool hasNextElement() const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
index 665b1b125ad5ec27425576d52a471501fd813cd7..58a778a865bd1beda0db793228b4acf24a3b257f 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
@@ -42,7 +42,7 @@ namespace armarx::aron::dataIO::reader
input(n)
{
auto current_nav_casted = datanavigator::DictNavigator::DynamicCastAndCheck(input);
- auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eDict, current_nav_casted);
+ auto newToken = std::make_shared<NavigatorReaderToken>(current_nav_casted);
stack.push(newToken);
}
@@ -70,7 +70,7 @@ namespace armarx::aron::dataIO::reader
auto current_nav_casted = datanavigator::DictNavigator::DynamicCastAndCheck(current_nav);
int c = current_nav->childrenSize();
- auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eDict, current_nav_casted);
+ auto newToken = std::make_shared<NavigatorReaderToken>(current_nav_casted);
stack.push(newToken);
return {c, true};
}
@@ -110,7 +110,7 @@ namespace armarx::aron::dataIO::reader
auto current_nav_casted = datanavigator::ListNavigator::DynamicCastAndCheck(current_nav);
int c = current_nav->childrenSize();
- auto newToken = std::make_shared<NavigatorReaderToken>(data::Descriptor::eList, current_nav_casted);
+ auto newToken = std::make_shared<NavigatorReaderToken>(current_nav_casted);
stack.push(newToken);
return {c, true};
}
@@ -253,20 +253,13 @@ namespace armarx::aron::dataIO::reader
}
// Helper functions
- data::Descriptor NavigatorReader::getTypeOfNext(const type::Descriptor hint) const
+ data::Descriptor NavigatorReader::getTypeOfNext() const
{
if (stack.empty())
{
- if (hint == type::Descriptor::eUnknown)
- {
- return data::Descriptor::eDict;
- }
- else
- {
- return Resolver::GetCorresponding(hint);
- }
+ return data::Descriptor::eDict;
}
auto token = stack.top();
- return token->getTypeOfNext(hint);
+ return token->getTypeOfNext();
}
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
index 547f6be8fc7b964ef6074e49f90e293a1e56d7bb..0b1c5739ecb1a0112e29ffc7cb2822f892b303bd 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h
@@ -68,7 +68,7 @@ namespace armarx::aron::dataIO::reader
virtual std::string readKey() override;
virtual void loadMember(const std::string&) override;
- virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
+ virtual data::Descriptor getTypeOfNext() const override;
private:
bool readFirstStartDict = false;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
index a11b6161388e5e87356715ad33037ec673b75369..6941b5f4ec9c3e2566a7717e7675c673399a171d 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReaderToken.h
@@ -46,9 +46,9 @@ namespace armarx::aron::dataIO::reader
public:
// constructors
NavigatorReaderToken() = delete;
- NavigatorReaderToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& data)
+ NavigatorReaderToken(const datanavigator::NavigatorPtr& data)
{
- descriptor = desc;
+ descriptor = data->getDescriptor();
element = data;
switch (descriptor)
@@ -65,11 +65,11 @@ namespace armarx::aron::dataIO::reader
break;
}
default:
- throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Received an invalid instance for a reader token.", desc);
+ throw error::DescriptorNotValidException("NavigatorReaderToken", "NavigatorReaderToken", "Received an invalid instance for a reader token.", descriptor);
}
}
- data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override
+ data::Descriptor getTypeOfNext() const override
{
const datanavigator::NavigatorPtr next = getNextElement();
return next->getDescriptor();
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 619466c574a00f6e756324111e06c4b60c4c4571..67560f75256df7661eff8fa9b6152dcb1a8e7b54 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -41,7 +41,17 @@ namespace armarx::aron::dataIO::reader
NlohmannJSONReader::NlohmannJSONReader(const nlohmann::json& n) :
input(n)
{
- auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eDict, n);
+ if (!n.is_object())
+ {
+ throw error::AronException("NlohmannJSONReader", "NlohmannJSONReader", "Allowed are only objects in reader");
+ }
+
+ if (n.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_DICT_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readStartList", "The json is not of dict type!", n[io::Data::READER_WRITER_TYPE_SLUG], io::Data::READER_WRITER_DICT_TYPENAME_SLUG);
+ }
+
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(n);
stack.push(newToken);
}
@@ -66,8 +76,18 @@ namespace armarx::aron::dataIO::reader
return {0, false};
}
+ if (!current_json.is_object())
+ {
+ throw error::AronException("NlohmannJSONReader", "readStartDict", "The json is not an object. Every part of the data must be an object containing the type and the value.");
+ }
+
+ if (current_json.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_DICT_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readStartList", "The json is not of dict type!", current_json.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_DICT_TYPENAME_SLUG);
+ }
+
int c = current_json.size();
- auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eDict, current_json);
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(current_json);
stack.push(newToken);
return {c, true};
}
@@ -103,8 +123,18 @@ namespace armarx::aron::dataIO::reader
return {0, false};
}
+ if (!current_json.is_object())
+ {
+ throw error::AronException("NlohmannJSONReader", "readStartList", "The json is not an object. Every part of the data must be an object containing the type and the value.");
+ }
+
+ if (current_json.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_LIST_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readStartList", "The json is not of list type!", current_json.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_LIST_TYPENAME_SLUG);
+ }
+
int c = current_json.size();
- auto newToken = std::make_shared<NlohmannJSONReaderToken>(data::Descriptor::eList, current_json);
+ auto newToken = std::make_shared<NlohmannJSONReaderToken>(current_json);
stack.push(newToken);
return {c, true};
}
@@ -137,8 +167,14 @@ namespace armarx::aron::dataIO::reader
lastToken->increaseCounter();
return {{}, "", false};
}
- std::vector<int> dims = current_json[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = current_json[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
+
+ if (current_json.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_NDARRAY_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readStartNDArray", "The json is not of ndarray type!", current_json.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_NDARRAY_TYPENAME_SLUG);
+ }
+
+ std::vector<int> dims = current_json.at(io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG);
+ std::string type = current_json.at(io::Data::READER_WRITER_NDARRAY_TYPE_SLUG);
return {dims, type, true};
}
@@ -152,8 +188,8 @@ namespace armarx::aron::dataIO::reader
auto lastToken = stack.top();
auto current_json = lastToken->getNextElement();
- std::vector<int> dims = current_json[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::vector<unsigned char> d = current_json[io::Data::READER_WRITER_NDARRAY_DATA_SLUG];
+ std::vector<int> dims = current_json.at(io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG);
+ std::vector<unsigned char> d = current_json.at(io::Data::READER_WRITER_NDARRAY_DATA_SLUG);
memcpy(data, d.data(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
}
@@ -168,6 +204,7 @@ namespace armarx::aron::dataIO::reader
lastToken->increaseCounter();
return {false};
}
+
return {true};
}
@@ -175,48 +212,84 @@ namespace armarx::aron::dataIO::reader
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_INT_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of int type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_INT_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
void NlohmannJSONReader::readEndPrimitive(long& t)
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_LONG_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of long type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_LONG_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
void NlohmannJSONReader::readEndPrimitive(float& t)
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of float type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
void NlohmannJSONReader::readEndPrimitive(double& t)
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of double type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
void NlohmannJSONReader::readEndPrimitive(std::string& t)
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_STRING_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of string type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_STRING_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
void NlohmannJSONReader::readEndPrimitive(bool& t)
{
auto lastToken = stack.top();
auto j = lastToken->getNextElement();
+
+ if (j.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_BOOL_TYPENAME_SLUG)
+ {
+ throw error::StringNotValidException("NlohmannJSONReader", "readEndPrimitive", "The json is not of bool type!", j.at(io::Data::READER_WRITER_TYPE_SLUG), io::Data::READER_WRITER_BOOL_TYPENAME_SLUG);
+ }
+
lastToken->increaseCounter();
- t = j;
+ t = j.at(io::Data::READER_WRITER_VALUE_SLUG);
}
std::string NlohmannJSONReader::readKey()
@@ -232,20 +305,13 @@ namespace armarx::aron::dataIO::reader
}
// Helper functions
- data::Descriptor NlohmannJSONReader::getTypeOfNext(const type::Descriptor hint) const
+ data::Descriptor NlohmannJSONReader::getTypeOfNext() const
{
if (stack.empty())
{
- if (hint == type::Descriptor::eUnknown)
- {
- return data::Descriptor::eDict;
- }
- else
- {
- return Resolver::GetCorresponding(hint);
- }
+ return data::Descriptor::eDict;
}
auto token = stack.top();
- return token->getTypeOfNext(hint);
+ return token->getTypeOfNext();
}
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
index 0285398f239d0816b1e4958901c9764315c5dc58..84ac1f42cb1d6743a1ec1e5f2099dccbb157ca2c 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h
@@ -66,7 +66,7 @@ namespace armarx::aron::dataIO::reader
virtual std::string readKey() override;
virtual void loadMember(const std::string&) override;
- virtual data::Descriptor getTypeOfNext(const type::Descriptor hint = type::Descriptor::eUnknown) const override;
+ virtual data::Descriptor getTypeOfNext() const override;
private:
bool readFirstStartDict = false;
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
index 7711670ddf4b45cf5602ae617089366c8b85db58..58f38d9d14677173ec054076dcf790efc3228cef 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
@@ -50,9 +50,14 @@ namespace armarx::aron::dataIO::reader
// constructors
NlohmannJSONReaderToken() = delete;
- NlohmannJSONReaderToken(const data::Descriptor desc, const nlohmann::json& data)
+ NlohmannJSONReaderToken(const nlohmann::json& data)
{
- descriptor = desc;
+ if (!data.is_object())
+ {
+ throw error::AronException("NlohmannJSONReaderToken", "NlohmannJSONReaderToken", "Received an invalid json instance for a reader. Allowed are only objects.");
+ }
+
+ descriptor = data::STRING_TO_DESCRIPTOR(data.at(io::Data::READER_WRITER_TYPE_SLUG));
element = data;
switch (descriptor)
@@ -61,61 +66,36 @@ namespace armarx::aron::dataIO::reader
{
for (auto it = data.begin(); it != data.end(); ++it)
{
+ if (it.key() == io::Data::READER_WRITER_TYPE_SLUG || it.key() == io::Data::READER_WRITER_VERSION_SLUG)
+ {
+ continue;
+ }
allMemberNames.push_back(it.key());
}
- childrenSize = data.size();
+ childrenSize = allMemberNames.size();
break;
}
case data::Descriptor::eList:
{
- childrenSize = data.size();
+ childrenSize = data.at(io::Data::READER_WRITER_VALUE_SLUG).size();
break;
}
default:
- throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "NlohmannJSONReaderToken", "Received an invalid instance for a reader token.", desc);
+ throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "NlohmannJSONReaderToken", "Received an invalid instance for a reader token.", descriptor);
}
}
- data::Descriptor getTypeOfNext(const type::Descriptor hint) const override
+ data::Descriptor getTypeOfNext() const override
{
const nlohmann::json next = getNextElement();
- if (next.is_object())
- {
- // Check if specific NDArray key exists
- if (next.find(io::Data::READER_WRITER_NDARRAY_DATA_SLUG) != next.end())
- {
- return data::Descriptor::eNDArray;
- }
- return data::Descriptor::eDict;
- }
- if (next.is_array())
+ if (next.is_null())
{
- return data::Descriptor::eList;
+ return data::Descriptor::eUnknown;
}
- if (next.is_number_integer())
- {
- data::Descriptor d = Resolver::GetFirstIfRelated(
- Resolver::GetCorresponding(hint),
- data::Descriptor::eLong);
- return d;
- }
- if (next.is_number_float())
- {
- data::Descriptor d = Resolver::GetFirstIfRelated(
- Resolver::GetCorresponding(hint),
- data::Descriptor::eDouble);
- return d;
- }
- if (next.is_boolean())
- {
- return data::Descriptor::eBool;
- }
- if (next.is_string())
- {
- return data::Descriptor::eString;
- }
- throw error::AronException("NlohmannJSONReaderToken", "getTypeOfNextElement", "Could not determine the type of an nlohmann::json object. Could not convert to data::Descriptor enum.");
+ std::string type_as_str = next.at(io::Data::READER_WRITER_NDARRAY_DATA_SLUG);
+ data::Descriptor desc = data::STRING_TO_DESCRIPTOR(type_as_str);
+ return desc;
}
nlohmann::json getNextElement() const override
@@ -129,12 +109,12 @@ namespace armarx::aron::dataIO::reader
{
case data::Descriptor::eDict:
{
- nlohmann::json ret = element[getCurrentKey()];
+ nlohmann::json ret = element.at(getCurrentKey());
return ret;
}
case data::Descriptor::eList:
{
- nlohmann::json ret = element[currentIndex];
+ nlohmann::json ret = element.at(io::Data::READER_WRITER_VALUE_SLUG).at(currentIndex);
return ret;
}
default:
@@ -148,13 +128,13 @@ namespace armarx::aron::dataIO::reader
{
case data::Descriptor::eDict:
{
- nlohmann::json ret = element[getCurrentKey()];
+ nlohmann::json ret = element.at(getCurrentKey());
return !ret.is_null();
}
case data::Descriptor::eList:
{
- nlohmann::json ret = element[currentIndex];
- return !ret.is_null();
+ auto size = element.at(io::Data::READER_WRITER_VALUE_SLUG).size();
+ return size >= currentIndex;
}
default:
throw error::DescriptorNotValidException("NlohmannJSONReaderToken", "hasData", "Could not resove a type of a json. Allowed are only container types due to performance", descriptor);
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
index 633d62ea3861db6bbefeb160ae0df3fe98d5bc15..8777b5d0c9691d75a6dce7c780c4e3f6c5c6ce04 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
@@ -52,7 +52,7 @@ namespace armarx::aron::dataIO::writer
{
Path path = generatePath();
auto data = std::make_shared<datanavigator::DictNavigator>(path);
- auto new_token = std::make_shared<NavigatorWriterToken>(data::Descriptor::eDict, data);
+ auto new_token = std::make_shared<NavigatorWriterToken>(data);
stack.push(new_token);
}
@@ -72,7 +72,7 @@ namespace armarx::aron::dataIO::writer
{
Path path = generatePath();
auto data = std::make_shared<datanavigator::ListNavigator>(path);
- auto new_token = std::make_shared<NavigatorWriterToken>(data::Descriptor::eList, data);
+ auto new_token = std::make_shared<NavigatorWriterToken>(data);
stack.push(new_token);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
index 7e8a53a773f728196ba28c4ebcd963279265102d..c7de6070ec9688fcd39a5bd6d2b027c82de70224 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriterToken.h
@@ -45,11 +45,11 @@ namespace armarx::aron::dataIO::writer
public:
// constructor
NavigatorWriterToken() = delete;
- NavigatorWriterToken(const data::Descriptor desc, const datanavigator::NavigatorPtr& d)
+ NavigatorWriterToken(const datanavigator::NavigatorPtr& d)
{
ARMARX_CHECK_NOT_NULL(d);
- descriptor = desc;
+ descriptor = d->getDescriptor();
element = d;
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 9e5517b65b29066827cd1e133b3aa2618afd92be..269c14e4cf1663cdee884e77c06e6ffa8b88ac76 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -32,7 +32,8 @@ namespace armarx::aron::dataIO::writer
void NlohmannJSONWriter::writeStartDict()
{
nlohmann::json data;
- auto new_token = std::make_shared<NlohmannJSONWriterToken>(data::Descriptor::eDict, data);
+ data[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_DICT_TYPENAME_SLUG;
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(data);
stack.push(new_token);
}
@@ -51,7 +52,9 @@ namespace armarx::aron::dataIO::writer
void NlohmannJSONWriter::writeStartList()
{
nlohmann::json data;
- auto new_token = std::make_shared<NlohmannJSONWriterToken>(data::Descriptor::eList, data);
+ data[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_LIST_TYPENAME_SLUG;
+ data[io::Data::READER_WRITER_VALUE_SLUG] = {};
+ auto new_token = std::make_shared<NlohmannJSONWriterToken>(data);
stack.push(new_token);
}
@@ -72,6 +75,7 @@ namespace armarx::aron::dataIO::writer
{
NlohmannJSONWriterTokenPtr token = stack.top();
nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_NDARRAY_TYPENAME_SLUG;
j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = dims;
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = t;
int elements = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
@@ -85,42 +89,54 @@ namespace armarx::aron::dataIO::writer
void NlohmannJSONWriter::writePrimitive(const int x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_INT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
void NlohmannJSONWriter::writePrimitive(const long x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_LONG_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
void NlohmannJSONWriter::writePrimitive(const float x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
void NlohmannJSONWriter::writePrimitive(const double x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
void NlohmannJSONWriter::writePrimitive(const std::string& x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_STRING_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
void NlohmannJSONWriter::writePrimitive(const bool x)
{
auto token = stack.top();
- nlohmann::json j(x);
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_BOOL_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_VALUE_SLUG] = x;
token->addElement(j);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
index 9f37b4993a86c7006cfe8ad98b40ea006c09ff53..ef8ded6b28d1b9ca65bfdf9a3470e39157030390 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
@@ -47,9 +47,9 @@ namespace armarx::aron::dataIO::writer
public:
// constructor
NlohmannJSONWriterToken() = delete;
- NlohmannJSONWriterToken(const data::Descriptor desc, const nlohmann::json& d)
+ NlohmannJSONWriterToken(const nlohmann::json& d)
{
- descriptor = desc;
+ descriptor = data::STRING_TO_DESCRIPTOR(d[io::Data::READER_WRITER_TYPE_SLUG]);
element = d;
}
@@ -66,7 +66,7 @@ namespace armarx::aron::dataIO::writer
}
case data::Descriptor::eList:
{
- element.push_back(n);
+ element[io::Data::READER_WRITER_VALUE_SLUG].push_back(n);
currentIndex++;
break;
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
index 3d3503af2567199be5ebf627f45813f2b220c606..d95638c1a2c3d3b1f4c6ebf835a454f8831ea924 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReaderToken.h
@@ -59,7 +59,7 @@ namespace armarx::aron::typeIO::reader
{
for (auto& [key, val] : type.get<nlohmann::json::object_t>())
{
- if (key == io::Data::READER_WRITER_NAME_SLUG)
+ if (key == io::Data::READER_WRITER_OBJECT_NAME_SLUG)
{
continue;
}
@@ -67,7 +67,7 @@ namespace armarx::aron::typeIO::reader
allMemberNames.push_back(key);
}
childrenSize = allMemberNames.size();
- elementName = element[io::Data::READER_WRITER_NAME_SLUG];
+ elementName = element[io::Data::READER_WRITER_OBJECT_NAME_SLUG];
break;
}
case type::Descriptor::eDict:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 72b3962e7803d7b8b981506a61e02608704e33ba..1ce3afe2394a3a20aa89948db49f97493d45865f 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -29,7 +29,7 @@ namespace armarx::aron::typeIO::writer
void NlohmannJSONWriter::writeStartObject(const WriteStartObjectInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_NAME_SLUG] = o.name;
+ data[io::Data::READER_WRITER_OBJECT_NAME_SLUG] = o.name;
data[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eObject, data);
stack.push(new_token);
@@ -207,7 +207,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_INT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_INT_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -216,7 +216,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_LONG_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_LONG_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -225,7 +225,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -234,7 +234,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -243,7 +243,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_STRING_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_STRING_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -252,7 +252,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_BOOL_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_BOOL_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
@@ -261,7 +261,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_TIME_TYPENAME_SLUG;
+ j[io::Data::READER_WRITER_TYPE_SLUG] = io::Data::READER_WRITER_TIME_TYPENAME_SLUG;
j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
token->addElement(j);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
index ea4410885b98ece7ee08e8c0ffb1c7443253c5f6..bea71d05b68deca116a253bbf9891ef29f7393a3 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriterToken.h
@@ -92,7 +92,7 @@ namespace armarx::aron::typeIO::writer
{
throw error::DescriptorNotValidException("NlohmannJSONWriterToken", "setName", "Cant set the name of a non-object token.", desc);
}
- element[io::Data::READER_WRITER_NAME_SLUG] = n;
+ element[io::Data::READER_WRITER_OBJECT_NAME_SLUG] = n;
}
};
}
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 4215b607c91b739d41ddc5ef4b0f661d405fa531..d491c12363d7c088250599c7ff88dd6f62f25506 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -57,6 +57,6 @@ armarx_enable_aron_file_generation_for_target(
xmls/PoseTest.xml
xmls/PositionTest.xml
xmls/PrimitiveTest.xml
- #xmls/OptionalTest.xml
+ xmls/OptionalTest.xml
#ENABLE_DEBUG_INFO
)
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index 17a3ddf27e63d92ba187a0babf4850006873a6ea..92efc6508c634ae3d411b75092bbf5572f78be96 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -90,7 +90,7 @@ using namespace aron;
template <typename T>
void runTestWithInstances(T& k1, T& k2)
{
- bool echo = true;
+ bool echo = false;
Randomizer r;
@@ -229,9 +229,10 @@ void runTestWithInstances(T& k1, T& k2)
BOOST_CHECK_EQUAL((k1_aron_json_str == direct_k1_aron_json_str), true);
armarx::aron::dataIO::reader::NlohmannJSONReader json_reader_for_k2(k1_aron_json);
- k2.read(json_reader_for_k2);
+ k2.read(json_reader_for_k2);
k2.write(json_writer_for_k2);
+
nlohmann::json k2_aron_json = json_writer_for_k2.getResult();
std::string k2_aron_json_str = k2_aron_json.dump(4);