diff --git a/source/RobotAPI/applications/AronGenerator/main.cpp b/source/RobotAPI/applications/AronGenerator/main.cpp
index e235a0663216fcdfcfa84799dc7a7e324f72b1c4..afb9a62048c910804eb8c8cca7adc9273fcb7844 100644
--- a/source/RobotAPI/applications/AronGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronGenerator/main.cpp
@@ -57,8 +57,8 @@ int main(int argc, char* argv[])
("h,help", "Print usage");
options.add_options("file")
- ("f,file", "XML file name", cxxopts::value<std::string>()->default_value("/home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml"))
- ("o,output", "The output path", cxxopts::value<std::string>()->default_value("/home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/generated/"));
+ ("f,file", "XML file name", cxxopts::value<std::string>()->default_value("/path/to/some/xml/file.xml"))
+ ("o,output", "The output path", cxxopts::value<std::string>()->default_value("/path/to/some/output/folder/"));
auto result = options.parse(argc, argv);
@@ -106,7 +106,7 @@ int main(int argc, char* argv[])
std::cout << "--> Found " << reader.getGenerateTypes().size() << " types." << std::endl;
}
- codegeneration::classwriter::AronTypeClassCppWriter writer("AronTestSegment", reader.getWriters(), reader.getReaders(), reader.getUseTypes());
+ codegeneration::classwriter::AronTypeClassCppWriter writer("AronTestSegment", reader.getWriters(), reader.getReaders(), reader.getUseTypes(), reader.getAdditionalIncludes());
if (verbose)
{
@@ -195,5 +195,5 @@ int main(int argc, char* argv[])
std::cerr << "Error in parsing cxxopts options: " << e.what() << std::endl;
exit(1);
}
- return 0;
+ exit(0);
}
diff --git a/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.cpp b/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.cpp
index 7ae852eeec344ba3d612068c3eb45aea70b1f66f..18978c4015a5ba919f9064d1fab8ffc3458eb7f4 100644
--- a/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.cpp
+++ b/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.cpp
@@ -43,7 +43,7 @@ namespace armarx
{
PropertyDefinitionsPtr defs{new ComponentPropertyDefinitions{getConfigIdentifier()}};
- defs->optional(local_memory_hostnames, "LocalMemoryHostnames", "The hostnames of the local memories, comma separated");
+ defs->optional(local_memory_names, "LocalMemoryNames", "The objectnames of the local memories, comma separated");
return defs;
}
@@ -62,16 +62,16 @@ namespace armarx
void ArMemGlobalStorage::onInitComponent()
{
- for (const std::string& hostname : simox::alg::split(local_memory_hostnames, ","))
+ for (const std::string& name : simox::alg::split(local_memory_names, ","))
{
- usingProxy(GenerateLocalMemoryObjectNameFromHostname(hostname));
+ usingProxy(GenerateLocalMemoryObjectNameFromHostname(name));
}
}
void ArMemGlobalStorage::onConnectComponent()
{
- for (const std::string& hostname : simox::alg::split(local_memory_hostnames, ","))
+ for (const std::string& hostname : simox::alg::split(local_memory_names, ","))
{
ArMemLocalMemoryInterfacePrx localMemoryPrx = getProxy<ArMemLocalMemoryInterfacePrx>(GenerateLocalMemoryObjectNameFromHostname(hostname));
local_memories[hostname] = localMemoryPrx;
diff --git a/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.h b/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.h
index f3534e096425a2719ec6d460cefafc3de38b15b6..bce4df46cd1590e9bbe7c7e6ee89b8bb60d43de8 100644
--- a/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.h
+++ b/source/RobotAPI/components/ArMemGlobalStorage/ArMemGlobalStorage.h
@@ -63,7 +63,7 @@ namespace armarx
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
private:
- std::string local_memory_hostnames;
+ std::string local_memory_names;
std::map<std::string, ArMemLocalMemoryInterfacePrx> local_memories;
};
}
diff --git a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
index 4ca8e4d6372e5e722a96a75f59311b3f81fd313c..41bc99495d98d9bb5d6a200b7300b551d0c6f090 100644
--- a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
+++ b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.cpp
@@ -33,26 +33,24 @@ namespace armarx
{
armarx::PropertyDefinitionsPtr ArMemLocalStorage::createPropertyDefinitions()
{
- PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier(), false));
- defs->optional(hostname_to_use, "MockedHostname", "Use a hostname mock. Leave empty to use the real one.");
+ PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
defs->optional(maximum_segments, "MaximumNumberOfSegments", "Maximum number of segments (<0 means infinite)");
defs->optional(maximum_entries_per_segment, "MaximumEntriesPerSegment", "Maximum number of accepted datatypes per segment (<0 means infinite)");
- defs->optional(maximum_entries_per_datatype, "MaximumEntriesPerDatatype", "Maximum number of accepted commits per datatype (<0 means infinite)");
return defs;
}
std::string ArMemLocalStorage::getDefaultName() const
{
- return GenerateLocalMemoryObjectNameFromHostname(hostname_to_use);
+ return GenerateLocalMemoryObjectNameFromHostname(getMyHostname());
}
ArMemLocalStorage::ArMemLocalStorage() :
armarx::Component(),
armarx::armem::ArMemBase(),
- hostname_to_use(getMyHostname()),
+ num_segments(0),
+ num_entries_per_segment(),
maximum_segments(-1),
- maximum_entries_per_segment(-1),
- maximum_entries_per_datatype(-1)
+ maximum_entries_per_segment(-1)
{
}
@@ -77,26 +75,50 @@ namespace armarx
}
- bool ArMemLocalStorage::hasSegment(const std::string& segment) const
+ ArMemLocalStorage::HasSegmentReturnType ArMemLocalStorage::hasSegment(const std::string& segment) const
{
auto index_pos = indexed_storage.find(segment);
auto timestamped_pos = timestamped_storage.find(segment);
auto hashed_pos = hashed_storage.find(segment);
- return index_pos == indexed_storage.end() || timestamped_pos == timestamped_storage.end() || hashed_pos == hashed_storage.end();
+ if (index_pos == indexed_storage.end() && timestamped_pos == timestamped_storage.end() && hashed_pos == hashed_storage.end())
+ {
+ return HasSegmentReturnType::No;
+ }
+
+ if (index_pos != indexed_storage.end() && timestamped_pos != timestamped_storage.end() && hashed_pos != hashed_storage.end())
+ {
+ return HasSegmentReturnType::Yes;
+ }
+
+ bool index_pos_end = (index_pos == indexed_storage.end());
+ bool timestamped_pos_end = (timestamped_pos == timestamped_storage.end());
+ bool hashed_pos_end = (hashed_pos == hashed_storage.end());
+ ARMARX_ERROR << "The memory is in an inconsistent state. A segment was found in some containers but not in all! Resetting segment!\n"
+ << "The indexed storage " << (index_pos_end ? "does not contain " : "contains ") << " the segment, \n"
+ << "The timestamped storage " << (timestamped_pos_end ? "does not contain " : "contains ") << " the segment, \n"
+ << "The hashed storage " << (hashed_pos_end ? "does not contain " : "contains ") << " the segment, \n";
+ return HasSegmentReturnType::InvalidState;
}
std::string ArMemLocalStorage::commit(const std::string& segment, long sentAt, const std::vector<aron::AronDataPtr>& data, const Ice::Current&)
{
// Check if segment already exists
- if (!hasSegment(segment))
+ HasSegmentReturnType has_segment = hasSegment(segment);
+ if (has_segment != HasSegmentReturnType::Yes)
{
// Need to allocate a new storage for a new segment
ARMARX_WARNING << "A new segment '" + segment + "' registered to the memory. Allocating space for its members...";
indexed_storage[segment] = IndexedDatatypeStorage();
timestamped_storage[segment] = TimestampedDataTypeStorage();
hashed_storage[segment] = HashedDataTypeStorage();
+
+ if (has_segment != HasSegmentReturnType::InvalidState)
+ {
+ // Otherwise we reassign the segment again.
+ num_segments++;
+ }
}
IndexedDatatypeStorage& indexed_segment_storage = indexed_storage[segment];
@@ -117,8 +139,8 @@ namespace armarx
entryPtr->stored_in_segment = IceUtil::Time::now().toMilliSeconds();
entryPtr->data = data;
- ARMARX_INFO_S << "Saving a new commit to segment '" + segment + "'";
- std::string string_to_hash = "commit_to_" + segment + "_at_" + std::to_string(now);
+ ARMARX_INFO << "Saving a new commit to segment '" + segment + "'";
+ std::string string_to_hash = segment + "__" + std::to_string(now);
size_t hash = std::hash<std::string> {}(string_to_hash);
if (timestamped_segment_storage.find(now) != timestamped_segment_storage.end())
@@ -130,9 +152,13 @@ namespace armarx
ARMARX_WARNING << "The segment '" + segment + "' already contains data at the commit hash " + std::to_string(hash) + ". Overwriting value!";
}
+ std::string hash_as_string = std::to_string(hash);
+ ARMARX_DEBUG << "Storing new data with hash: " << hash_as_string;
indexed_segment_storage.push_back(entryPtr);
timestamped_segment_storage[now] = entryPtr;
hashed_segment_storage[hash] = entryPtr;
+ ARMARX_DEBUG << "Stored new data with hash: " << hash_as_string;
+ ARMARX_DEBUG << "The current segment " << segment << " now contains " << indexed_segment_storage.size() << " elements!";
return std::to_string(hash);
}
@@ -151,21 +177,28 @@ namespace armarx
}
for (const auto& [segment, datatypeStorage] : indexed_storage)
{
- if (!hasSegment(segment))
- {
- throw LocalException("The memory is in an invalid state. Not all storages contain the segment '" + segment + "'! Please Check!");
- }
+ checkStorageIntegrityForSegment(segment);
}
}
void ArMemLocalStorage::checkStorageIntegrityForSegment(const std::string& segment) const
{
-
+ HasSegmentReturnType has_segment = hasSegment(segment);
+ if (has_segment != HasSegmentReturnType::Yes)
+ {
+ throw LocalException("The memory is in an invalid state. Not all storages contain the segment '" + segment + "'! Please Check!");
+ }
}
ArMemCommitPtr ArMemLocalStorage::getLatestCommitFromSegment(const std::string& segment, const Ice::Current&)
{
+ HasSegmentReturnType has_segment = hasSegment(segment);
+ if (has_segment != HasSegmentReturnType::Yes)
+ {
+ return nullptr;
+ }
+
int index = indexed_storage[segment].size() - 1;
if (index >= 0)
{
diff --git a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
index bc228dedb60910f307eb52e9cef3ee683a164b8a..bdb4533958b80a7d283a388863c375ecb5292772 100644
--- a/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
+++ b/source/RobotAPI/components/ArMemLocalStorage/ArMemLocalStorage.h
@@ -44,6 +44,13 @@ namespace armarx
virtual public armarx::armem::ArMemLocalMemoryInterface
{
public:
+ enum HasSegmentReturnType
+ {
+ Yes,
+ No,
+ InvalidState
+ };
+
typedef std::vector<ArMemCommitPtr> IndexedDatatypeStorage;
typedef std::map<long, ArMemCommitPtr> TimestampedDataTypeStorage;
typedef std::map<std::size_t, ArMemCommitPtr> HashedDataTypeStorage;
@@ -52,7 +59,7 @@ namespace armarx
std::string getDefaultName() const override;
- bool hasSegment(const std::string&) const;
+ HasSegmentReturnType hasSegment(const std::string&) const;
long size(const std::string&) const;
ArMemCommitPtr getLatestCommitFromSegment(const std::string&, const Ice::Current& = Ice::Current());
@@ -81,11 +88,11 @@ namespace armarx
std::map<std::string, TimestampedDataTypeStorage> timestamped_storage;
std::map<std::string, HashedDataTypeStorage> hashed_storage;
- std::string hostname_to_use;
+ long num_segments;
+ std::map<std::string, long> num_entries_per_segment;
long maximum_segments;
long maximum_entries_per_segment;
- long maximum_entries_per_datatype;
};
}
}
diff --git a/source/RobotAPI/interface/armem.ice b/source/RobotAPI/interface/armem.ice
index f5ced2684babf02ebe711b89efbe580f82f765a1..120c340992853ced3393922216ed8f855a290d24 100644
--- a/source/RobotAPI/interface/armem.ice
+++ b/source/RobotAPI/interface/armem.ice
@@ -13,7 +13,8 @@ module armarx
string stored_in_segment;
long produce_timestamp_ms;
long storage_timestamp_ms;
- aron::AronDataList data;
+ int priority;
+ aron::AronDataList data; // Dict?!?
};
// map storageTS to commit
diff --git a/source/RobotAPI/libraries/armem/ArMemBase.cpp b/source/RobotAPI/libraries/armem/ArMemBase.cpp
index 5048a42d4c4a424ff509e59b6a1dc3a1ddf63494..bc67b10d9cae27ab4e6272f2cb0cdbb77b40de3d 100644
--- a/source/RobotAPI/libraries/armem/ArMemBase.cpp
+++ b/source/RobotAPI/libraries/armem/ArMemBase.cpp
@@ -32,7 +32,7 @@ namespace armarx
ArMemBase::ArMemBase()
{
- my_hostname = getMyHostname();
+ my_hostname = GetMyHostname();
}
std::string ArMemBase::GenerateLocalMemoryObjectNameFromHostname(const std::string& hostname)
diff --git a/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp b/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
index a327def7f088f156497861902a3f185f33e510c3..e6e578a866da7b865ca908eecab58b369d2f4390 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
+++ b/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
@@ -39,10 +39,11 @@ namespace armarx
{
namespace classwriter
{
- AronTypeClassCppWriter::AronTypeClassCppWriter(const std::string& producerName, const std::set<AronWriterInfo>& writers, const std::set<AronReaderInfo>& readers, const std::vector<AronUseTypeInfo>& useTypes) :
+ AronTypeClassCppWriter::AronTypeClassCppWriter(const std::string& producerName, const std::set<AronWriterInfo>& writers, const std::set<AronReaderInfo>& readers, const std::vector<AronUseTypeInfo>& useTypes, const std::vector<std::string>& additionalIncludesFromFile) :
producerName(producerName),
writers(writers),
- readers(readers)
+ readers(readers),
+ additionalIncludes(additionalIncludesFromFile)
{
additionalIncludes.push_back("<RobotAPI/libraries/aron/codegenerator/AronCppClass.h>");
for (const auto& useType : useTypes)
@@ -56,8 +57,9 @@ namespace armarx
return typeClasses;
}
- void AronTypeClassCppWriter::generateTypeClasses(const GenerateTypePtrList& produceTypes)
+ void AronTypeClassCppWriter::generateTypeClasses(const GenerateTypePtrList& produceTypes, bool onlyAddHeaderInformationToFirstClass)
{
+ bool first = true;
for (const auto& [produceObj, localProduceTypes] : produceTypes)
{
// Convert to Object type and create class object
@@ -70,17 +72,31 @@ namespace armarx
c->addInherit("virtual public armarx::aron::codegeneration::AronCppClass");
// Add includes and guard
- setupIncludes(c, boost::algorithm::to_upper_copy(producerName) + "__" + boost::algorithm::to_upper_copy(c->getName()) + "__ARON_TYPE_DEFINITION_INCLUDE_GUARD");
+ if (!onlyAddHeaderInformationToFirstClass or first)
+ {
+ setupIncludes(c, boost::algorithm::to_upper_copy(producerName) + "__" + boost::algorithm::to_upper_copy(c->getName()) + "__ARON_TYPE_DEFINITION_INCLUDE_GUARD");
+ }
// setup inner classes
- for(const auto& localProduceObj : localProduceTypes)
+ for (const auto& localProduceObj : localProduceTypes)
{
CppClassPtr inner = setupCppClassFromObjectType(localProduceObj);
+ CppMethodPtr inner_equals = localProduceObj->toEqualsMethod();
+ inner->addMethod(inner_equals);
c->addInnerClass(inner);
}
+ // ctor
+ CppBlockPtr ctorBlock = CppBlockPtr(new CppBlock());
+ ctorBlock->addLine("initialize();");
+ ctorBlock->addLine("reset();");
+ c->addCtor("", ctorBlock);
+
// Generic methods
+ CppMethodPtr equals = produceObj->toEqualsMethod();
+ c->addMethod(equals);
+
CppMethodPtr reset = produceObj->toResetMethod();
c->addMethod(reset);
@@ -110,6 +126,7 @@ namespace armarx
}
typeClasses.push_back(c);
+ first = false;
}
}
@@ -120,7 +137,7 @@ namespace armarx
boost::algorithm::split(split, cppTypename, boost::is_any_of("::"), boost::token_compress_on);
if (split.size() < 1)
{
- throw LocalException("The cpp name of an inner type was empty. Please check the type definition file if all object names are set correctly.");
+ throw LocalException("AronTypeClassCppWriter: The cpp name of an inner type was empty. Please check the type definition file if all object names are set correctly.");
}
std::vector<std::string> namespaces(split);
@@ -133,42 +150,23 @@ namespace armarx
c->addPublicField(child->getFullCppTypename() + " " + key + ";");
}
- // operator==
- std::stringstream doc;
- doc << "@brief operator==() - This method checks whether all values equal another instance. \n";
- doc << "@param i - The other instance\n";
- doc << "@return - true, if all members are the same, false otherwise";
- CppMethodPtr equals = CppMethodPtr(new CppMethod("bool operator==(const " + o->getFullCppTypename() + "& i) const", doc.str()));
-
- for (const auto& [key, child] : o->getChildren())
- {
- equals->addLine("if ( not (" + key + " == i." + key + "))");
- equals->addLine(" return false;");
- }
- equals->addLine("return true;");
- c->addMethod(equals);
-
return c;
}
void AronTypeClassCppWriter::setupIncludes(CppClassPtr& c, const std::string& guard) const
{
- c->addClassDoc("Autogenerated class. Please do not edit. Instead, edit the corresponding .xml file.");
+ c->addClassDoc("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ "!!!!!!AUTOGENERATED CLASS. Please do NOT edit. Instead, edit the corresponding .xml file!!!!!!\n"
+ "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
c->setIncludeGuard(guard);
c->addInclude("<string>");
c->addInclude("<vector>");
c->addInclude("<map>");
-
- c->addInclude("<Eigen/Core>");
c->addInclude("<RobotAPI/interface/aron.h>");
for (const std::string& s : additionalIncludes)
{
c->addInclude(s);
}
- CppBlockPtr ctorBlock = CppBlockPtr(new CppBlock());
- ctorBlock->addLine("initialize();");
- ctorBlock->addLine("reset();");
- c->addCtor("", ctorBlock);
}
}
}
diff --git a/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.h b/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.h
index 0c7098924705596571878c2cc36d7fde32d4a168..5a685d5b6b508f72b0bca359159c12b1e04fbccd 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.h
+++ b/source/RobotAPI/libraries/aron/codegenerator/codeWriters/cppWriter/AronCppWriter.h
@@ -58,9 +58,9 @@ namespace armarx
public:
typedef std::vector<std::pair<types::AronObjectTypeNavigatorPtr, std::vector<types::AronObjectTypeNavigatorPtr>>> GenerateTypePtrList;
- AronTypeClassCppWriter(const std::string&, const std::set<AronWriterInfo>&, const std::set<AronReaderInfo>&, const std::vector<AronUseTypeInfo>&);
+ AronTypeClassCppWriter(const std::string&, const std::set<AronWriterInfo>&, const std::set<AronReaderInfo>&, const std::vector<AronUseTypeInfo>&, const std::vector<std::string>&);
- void generateTypeClasses(const GenerateTypePtrList&);
+ void generateTypeClasses(const GenerateTypePtrList&, bool onlyAddHeaderInformationToFirstClass = false); // Todo true is not supported at the moment since the guard is missing
std::vector<CppClassPtr> getTypeClasses() const;
private:
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/AronAbstractTypeReader.h b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/AronAbstractTypeReader.h
index 747d0331172d45953306e21d8822c7d3d62c9546..4bd28d6f385de5c41e5b3351da6656139ad4aa5e 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/AronAbstractTypeReader.h
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/AronAbstractTypeReader.h
@@ -74,6 +74,10 @@ namespace armarx
virtual void parseFile(const std::string& filename) = 0;
virtual void parseFile(const std::filesystem::path& file) = 0;
+ std::vector<std::string> getAdditionalIncludes() const
+ {
+ return additionalIncludes;
+ }
std::set<AronWriterInfo> getWriters() const
{
return writers;
@@ -93,6 +97,7 @@ namespace armarx
}
protected:
+ std::vector<std::string> additionalIncludes;
std::set<AronReaderInfo> readers;
std::set<AronWriterInfo> writers;
std::vector<AronUseTypeInfo> useTypes;
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.cpp b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.cpp
index 689acfd6d31b424d53e8a30fe15dbe815e60f558..1fde262fd82f14f710a168908ce415618f97e832 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.cpp
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.cpp
@@ -44,38 +44,36 @@ namespace armarx
{
const std::string AronAbstractTypeXMLReaderData::ARON_TYPE_DEFINITION_TAG = "arontypedefinition";
+ const std::string AronAbstractTypeXMLReaderData::ARON_INCLUDES_TAG = "includes";
const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZERS_TAG = "serializers";
const std::string AronAbstractTypeXMLReaderData::ARON_USE_TYPES_TAG = "usetypes";
const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPES_TAG = "generatetypes";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITERS_TAG = "writers";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READERS_TAG = "readers";
+ const std::string AronAbstractTypeXMLReaderData::ARON_INCLUDE_TAG = "include";
+ const std::string AronAbstractTypeXMLReaderData::ARON_WRITERS_TAG = "writers";
+ const std::string AronAbstractTypeXMLReaderData::ARON_READERS_TAG = "readers";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITER_TAG = "writer";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READER_TAG = "reader";
+ const std::string AronAbstractTypeXMLReaderData::ARON_WRITER_TAG = "writer";
+ const std::string AronAbstractTypeXMLReaderData::ARON_READER_TAG = "reader";
const std::string AronAbstractTypeXMLReaderData::ARON_USE_TYPE_TAG = "usetype";
const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPE_TAG = "generatetype";
- const std::string AronAbstractTypeXMLReaderData::ARON_USE_TYPE_INCLUDE_ATTRIBUTE_NAME = "include";
- const std::string AronAbstractTypeXMLReaderData::ARON_USE_TYPE_NAME_ATTRIBUTE_NAME = "name";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME = "method";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_RETURN_ATTRIBUTE_NAME = "return";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ARGUMENT_ATTRIBUTE_NAME = "argumenttype";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITER_NAME_ATTRIBUTE_NAME = "writer";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READER_NAME_ATTRIBUTE_NAME = "reader";
- const std::string AronAbstractTypeXMLReaderData::ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME = "include";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_EXTERNAL_NAME_ATTRIBUTE_NAME = "name";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_NAME_ATTRIBUTE_NAME = "name";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_TYPE_ATTRIBUTE_NAME = "type";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_CHILD_KEY_ATTRIBUTE_NAME = "key";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_LIST_TYPE_ATTRIBUTE_NAME = "listtype";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_DICT_TYPE_ATTRIBUTE_NAME = "dicttype";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_TUPLE_TYPE_ATTRIBUTE_NAME = "tupletype";
-
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_CHILD_TAG = "objectchild";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_LIST_TYPE_TAG = "listtype";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_DICT_TYPE_TAG = "dicttype";
- const std::string AronAbstractTypeXMLReaderData::ARON_PRODUCE_TUPLE_TYPE_TAG = "tupletype";
+ const std::string AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME = "include";
+ const std::string AronAbstractTypeXMLReaderData::ARON_METHOD_ATTRIBUTE_NAME = "method";
+ const std::string AronAbstractTypeXMLReaderData::ARON_RETURN_ATTRIBUTE_NAME = "return";
+ const std::string AronAbstractTypeXMLReaderData::ARON_ARGUMENT_TYPE_ATTRIBUTE_NAME = "argumenttype";
+ const std::string AronAbstractTypeXMLReaderData::ARON_WRITER_ATTRIBUTE_NAME = "writer";
+ const std::string AronAbstractTypeXMLReaderData::ARON_READER_ATTRIBUTE_NAME = "reader";
+ const std::string AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME = "name";
+ const std::string AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME = "type";
+ const std::string AronAbstractTypeXMLReaderData::ARON_KEY_ATTRIBUTE_NAME = "key";
+ const std::string AronAbstractTypeXMLReaderData::ARON_WIDTH_ATTRIBUTE_NAME = "width";
+ const std::string AronAbstractTypeXMLReaderData::ARON_HEIGHT_ATTRIBUTE_NAME = "height";
+
+ const std::string AronAbstractTypeXMLReaderData::ARON_OBJECT_CHILD_TAG = "objectchild";
+ const std::string AronAbstractTypeXMLReaderData::ARON_TYPE_TAG = "type";
+ const std::string AronAbstractTypeXMLReaderData::ARON_DIMENSIONS_TAG = "dimensions";
+ const std::string AronAbstractTypeXMLReaderData::ARON_DIMENSION_TAG = "dimension";
// Top Level type tags
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
@@ -84,34 +82,55 @@ namespace armarx
HANDLE_ALL_ARON_TYPES_WITHOUT_CPP_TYPE
#undef RUN_ARON_MACRO
- void AronAbstractTypeXMLReaderData::CheckAttribute(const RapidXmlReaderNode& node, const std::string& att)
+ void AronAbstractTypeXMLReaderData::EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att)
{
- if (!node.has_attribute(att.c_str()))
+ if (!AronAbstractTypeXMLReaderData::HasAttribute(node, att))
{
- throw LocalException("A <" + node.name() + ">-tag does not have the correct attribute. Expected: " + att);
+ throw LocalException("AronAbstractTypeXMLReaderData: A <" + node.name() + ">-tag does not have the correct attribute. Expected: " + att);
}
}
+ bool AronAbstractTypeXMLReaderData::HasAttribute(const RapidXmlReaderNode& node, const std::string& att)
+ {
+ return node.has_attribute(att.c_str());
+ }
+
bool AronAbstractTypeXMLReaderData::HasTagName(const RapidXmlReaderNode& node, const std::string& name)
{
return (boost::algorithm::to_lower_copy(name) == boost::algorithm::to_lower_copy(node.name()));
}
- void AronAbstractTypeXMLReaderData::CheckTagName(const RapidXmlReaderNode& node, const std::string& name)
+ void AronAbstractTypeXMLReaderData::EnforceTagName(const RapidXmlReaderNode& node, const std::string& name)
{
if (!(HasTagName(node, name)))
{
- throw LocalException("The node <" + node.name() + "> has the wrong tag. Expected: <" + name + ">");
+ throw LocalException("AronAbstractTypeXMLReaderData: The node <" + node.name() + "> has the wrong tag. Expected: <" + name + ">");
}
+ }
+ bool AronAbstractTypeXMLReaderData::CheckMinChildSize(const RapidXmlReaderNode& node, const size_t size)
+ {
+ std::vector<RapidXmlReaderNode> children = node.nodes();
+ return children.size() >= size;
}
- void AronAbstractTypeXMLReaderData::CheckChildSize(const RapidXmlReaderNode& node, const size_t size)
+ bool AronAbstractTypeXMLReaderData::CheckMaxChildSize(const RapidXmlReaderNode& node, const size_t size)
{
std::vector<RapidXmlReaderNode> children = node.nodes();
- if (children.size() != size)
+ return children.size() <= size;
+ }
+
+ bool AronAbstractTypeXMLReaderData::CheckExactChildSize(const RapidXmlReaderNode& node, const size_t size)
+ {
+ std::vector<RapidXmlReaderNode> children = node.nodes();
+ return children.size() == size;
+ }
+
+ void AronAbstractTypeXMLReaderData::EnforceChildSize(const RapidXmlReaderNode& node, const size_t size)
+ {
+ if (!AronAbstractTypeXMLReaderData::CheckExactChildSize(node, size))
{
- throw LocalException("The node <" + node.name() + "> can only have exactly " + std::to_string(size) + " children. Found " + std::to_string(children.size()) + ".");
+ throw LocalException("AronAbstractTypeXMLReaderData: The node <" + node.name() + "> has the wrong number of children. Expected: " + std::to_string(size) + " children but it has: " + std::to_string(node.nodes().size()) + ".");
}
}
}
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.h b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.h
index 0b37d9c998c2f02a6a2eb65f46cb3057606f0182..79d1705fe742f15d624461e3e88d08bdecf7e631 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.h
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLData.h
@@ -52,40 +52,38 @@ namespace armarx
// Definition tags
const static std::string ARON_TYPE_DEFINITION_TAG;
+ const static std::string ARON_INCLUDES_TAG;
const static std::string ARON_SERIALIZERS_TAG;
const static std::string ARON_USE_TYPES_TAG;
const static std::string ARON_PRODUCE_TYPES_TAG;
- const static std::string ARON_SERIALIZER_WRITERS_TAG;
- const static std::string ARON_SERIALIZER_READERS_TAG;
+ const static std::string ARON_INCLUDE_TAG;
+ const static std::string ARON_WRITERS_TAG;
+ const static std::string ARON_READERS_TAG;
- const static std::string ARON_SERIALIZER_WRITER_TAG;
- const static std::string ARON_SERIALIZER_READER_TAG;
+ const static std::string ARON_WRITER_TAG;
+ const static std::string ARON_READER_TAG;
const static std::string ARON_USE_TYPE_TAG;
const static std::string ARON_PRODUCE_TYPE_TAG;
// Attribute names
- const static std::string ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME;
- const static std::string ARON_SERIALIZER_METHOD_RETURN_ATTRIBUTE_NAME;
- const static std::string ARON_SERIALIZER_METHOD_ARGUMENT_ATTRIBUTE_NAME;
- const static std::string ARON_SERIALIZER_WRITER_NAME_ATTRIBUTE_NAME;
- const static std::string ARON_SERIALIZER_READER_NAME_ATTRIBUTE_NAME;
- const static std::string ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME;
- const static std::string ARON_USE_TYPE_INCLUDE_ATTRIBUTE_NAME;
- const static std::string ARON_USE_TYPE_NAME_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_EXTERNAL_NAME_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_OBJECT_NAME_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_OBJECT_TYPE_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_OBJECT_CHILD_KEY_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_LIST_TYPE_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_DICT_TYPE_ATTRIBUTE_NAME;
- const static std::string ARON_PRODUCE_TUPLE_TYPE_ATTRIBUTE_NAME;
+ const static std::string ARON_METHOD_ATTRIBUTE_NAME;
+ const static std::string ARON_RETURN_ATTRIBUTE_NAME;
+ const static std::string ARON_ARGUMENT_TYPE_ATTRIBUTE_NAME;
+ const static std::string ARON_INCLUDE_ATTRIBUTE_NAME;
+ const static std::string ARON_READER_ATTRIBUTE_NAME;
+ const static std::string ARON_WRITER_ATTRIBUTE_NAME;
+ const static std::string ARON_NAME_ATTRIBUTE_NAME;
+ const static std::string ARON_KEY_ATTRIBUTE_NAME;
+ const static std::string ARON_TYPE_ATTRIBUTE_NAME;
+ const static std::string ARON_WIDTH_ATTRIBUTE_NAME;
+ const static std::string ARON_HEIGHT_ATTRIBUTE_NAME;
// Second level tags. Only important if in specific top level tag
- const static std::string ARON_PRODUCE_OBJECT_CHILD_TAG;
- const static std::string ARON_PRODUCE_LIST_TYPE_TAG;
- const static std::string ARON_PRODUCE_DICT_TYPE_TAG;
- const static std::string ARON_PRODUCE_TUPLE_TYPE_TAG;
+ const static std::string ARON_OBJECT_CHILD_TAG;
+ const static std::string ARON_TYPE_TAG;
+ const static std::string ARON_DIMENSIONS_TAG;
+ const static std::string ARON_DIMENSION_TAG;
// Top Level type tags
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
@@ -94,10 +92,14 @@ namespace armarx
HANDLE_ALL_ARON_TYPES_WITHOUT_CPP_TYPE
#undef RUN_ARON_MACRO
- static void CheckAttribute(const RapidXmlReaderNode& node, const std::string& att);
+ static void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
+ static bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
static bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
- static void CheckTagName(const RapidXmlReaderNode& node, const std::string& name);
- static void CheckChildSize(const RapidXmlReaderNode& node, const size_t size);
+ static void EnforceTagName(const RapidXmlReaderNode& node, const std::string& name);
+ static bool CheckMinChildSize(const RapidXmlReaderNode& node, const size_t size);
+ static bool CheckMaxChildSize(const RapidXmlReaderNode& node, const size_t size);
+ static bool CheckExactChildSize(const RapidXmlReaderNode& node, const size_t size);
+ static void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);
};
}
}
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.cpp b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.cpp
index 9667584ebd658df1cb7f60ed9dc031a0684a93ec..834495b6c2c06fd51c562b9d451345b878e62f78 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.cpp
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.cpp
@@ -67,67 +67,180 @@ namespace armarx
RapidXmlReaderNode root = reader->getRoot();
// Check Header
- AronAbstractTypeXMLReaderData::CheckTagName(root, AronAbstractTypeXMLReaderData::ARON_TYPE_DEFINITION_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(root, AronAbstractTypeXMLReaderData::ARON_TYPE_DEFINITION_TAG);
- AronAbstractTypeXMLReaderData::CheckChildSize(root, 3);
+ AronAbstractTypeXMLReaderData::CheckMaxChildSize(root, 4);
std::vector<RapidXmlReaderNode> children = root.nodes();
- AronAbstractTypeXMLReaderData::CheckTagName(children[0], AronAbstractTypeXMLReaderData::ARON_SERIALIZERS_TAG);
- AronAbstractTypeXMLReaderData::CheckTagName(children[1], AronAbstractTypeXMLReaderData::ARON_USE_TYPES_TAG);
- AronAbstractTypeXMLReaderData::CheckTagName(children[2], AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPES_TAG);
+ int includes_index = -1;
+ int serializers_index = -1;
+ int use_types_index = -1;
+ int produce_types_index = -1;
- // Check Serializers
- AronAbstractTypeXMLReaderData::CheckChildSize(children[0], 2);
- std::vector<RapidXmlReaderNode> serializers = children[0].nodes();
- AronAbstractTypeXMLReaderData::CheckTagName(serializers[0], AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITERS_TAG);
- AronAbstractTypeXMLReaderData::CheckTagName(serializers[1], AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READERS_TAG);
-
- for (const auto& serializer : serializers[0].nodes())
+ int index = 0;
+ for (const auto& child : children)
{
- this->writers.insert(readWriter(serializer));
+ if (AronAbstractTypeXMLReaderData::HasTagName(child, AronAbstractTypeXMLReaderData::ARON_INCLUDES_TAG))
+ {
+ if (includes_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found an include tag. Please check the xml file.");
+ }
+ else
+ {
+ includes_index = index;
+ }
+ }
+ else if (AronAbstractTypeXMLReaderData::HasTagName(child, AronAbstractTypeXMLReaderData::ARON_SERIALIZERS_TAG))
+ {
+ if (serializers_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found a serializers tag. Please check the xml file.");
+ }
+ else
+ {
+ serializers_index = index;
+ }
+ }
+ else if (AronAbstractTypeXMLReaderData::HasTagName(child, AronAbstractTypeXMLReaderData::ARON_USE_TYPES_TAG))
+ {
+ if (use_types_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found an use type tag. Please check the xml file.");
+ }
+ else
+ {
+ use_types_index = index;
+ }
+ }
+ else if (AronAbstractTypeXMLReaderData::HasTagName(child, AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPES_TAG))
+ {
+ if (produce_types_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found an generate type tag. Please check the xml file.");
+ }
+ else
+ {
+ produce_types_index = index;
+ }
+ }
+ index++;
}
- for (const auto& serializer : serializers[1].nodes())
+
+ // 1. Check includes
+ if (includes_index != -1)
{
- this->readers.insert(readReader(serializer));
+ std::vector<RapidXmlReaderNode> includes = children[includes_index].nodes();
+ for (const auto& include : includes)
+ {
+ this->additionalIncludes.push_back(readInclude(include));
+ }
}
- // Check UseTypes
- for (const auto& receiveType : children[1].nodes())
+ // 2. Check Serializers
+ if (serializers_index != -1)
{
- this->useTypes.push_back(readUseType(receiveType));
+ AronAbstractTypeXMLReaderData::CheckMaxChildSize(children[serializers_index], 2);
+ std::vector<RapidXmlReaderNode> serializers = children[serializers_index].nodes();
+
+ int writers_index = -1;
+ int readers_index = -1;
+
+ index = 0;
+ for (const auto& serializer : serializers)
+ {
+ if (AronAbstractTypeXMLReaderData::HasTagName(serializer, AronAbstractTypeXMLReaderData::ARON_WRITERS_TAG))
+ {
+ if (writers_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found an writers tag. Please check the xml file.");
+ }
+ else
+ {
+ writers_index = index;
+ }
+ }
+ else if (AronAbstractTypeXMLReaderData::HasTagName(serializer, AronAbstractTypeXMLReaderData::ARON_READERS_TAG))
+ {
+ if (readers_index != -1)
+ {
+ throw LocalException("AronAbstractTypeXMLReader: Already found a readers tag. Please check the xml file.");
+ }
+ else
+ {
+ readers_index = index;
+ }
+ }
+ index++;
+ }
+
+ if (writers_index != -1)
+ {
+ for (const auto& serializer : serializers[writers_index].nodes())
+ {
+ this->writers.insert(readWriter(serializer));
+ }
+ }
+ if (readers_index != -1)
+ {
+ for (const auto& serializer : serializers[readers_index].nodes())
+ {
+ this->readers.insert(readReader(serializer));
+ }
+ }
}
- // Add UseTypes to Factory
- std::vector<std::string> useObjectNames;
- for (const auto& useType : useTypes)
+ // 3. Check UseTypes
+ if (use_types_index != -1)
{
- useObjectNames.push_back(useType.typeName);
+ for (const auto& receiveType : children[use_types_index].nodes())
+ {
+ this->useTypes.push_back(readUseType(receiveType));
+ }
+
+ // Add UseTypes to Factory
+ std::vector<std::string> useObjectNames;
+ for (const auto& useType : useTypes)
+ {
+ useObjectNames.push_back(useType.typeName);
+ }
+ Factory.AddTopLevelObjectNames(useObjectNames);
}
- Factory.AddTopLevelObjectNames(useObjectNames);
- // Check ProduceTypes
- for (const auto& produceType : children[2].nodes())
+ // 4. Check ProduceTypes
+ if (produce_types_index != -1)
{
- readGenerateType(produceType);
+ for (const auto& produceType : children[produce_types_index].nodes())
+ {
+ readGenerateType(produceType);
+ }
+ generateTypes = Factory.GetAllProducedTopLevelObjects();
}
- generateTypes = Factory.GetAllProducedTopLevelObjects();
+ }
+
+ std::string AronAbstractTypeXMLReader::readInclude(const RapidXmlReaderNode& node) const
+ {
+ AronAbstractTypeXMLReaderData::EnforceTagName(node, AronAbstractTypeXMLReaderData::ARON_INCLUDE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME);
+ const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME.c_str());
+ return include;
}
AronWriterInfo AronAbstractTypeXMLReader::readWriter(const RapidXmlReaderNode& node) const
{
- AronAbstractTypeXMLReaderData::CheckTagName(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITER_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(node, AronAbstractTypeXMLReaderData::ARON_WRITER_TAG);
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME);
- const std::string methodname = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_METHOD_ATTRIBUTE_NAME);
+ const std::string methodname = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_METHOD_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_RETURN_ATTRIBUTE_NAME);
- const std::string returntype = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_RETURN_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_RETURN_ATTRIBUTE_NAME);
+ const std::string returntype = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_RETURN_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITER_NAME_ATTRIBUTE_NAME);
- const std::string writer = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_WRITER_NAME_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_WRITER_ATTRIBUTE_NAME);
+ const std::string writer = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_WRITER_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME);
- const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME);
+ const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME.c_str());
AronWriterInfo info;
info.methodName = methodname;
@@ -140,19 +253,19 @@ namespace armarx
AronReaderInfo AronAbstractTypeXMLReader::readReader(const RapidXmlReaderNode& node) const
{
- AronAbstractTypeXMLReaderData::CheckTagName(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READER_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(node, AronAbstractTypeXMLReaderData::ARON_READER_TAG);
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME);
- const std::string methodname = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_METHOD_ATTRIBUTE_NAME);
+ const std::string methodname = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_METHOD_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ARGUMENT_ATTRIBUTE_NAME);
- const std::string returntype = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_METHOD_ARGUMENT_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_ARGUMENT_TYPE_ATTRIBUTE_NAME);
+ const std::string returntype = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_ARGUMENT_TYPE_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READER_NAME_ATTRIBUTE_NAME);
- const std::string reader = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_READER_NAME_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_READER_ATTRIBUTE_NAME);
+ const std::string reader = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_READER_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME);
- const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_SERIALIZER_INCLUDE_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME);
+ const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME.c_str());
AronReaderInfo info;
info.methodName = methodname;
@@ -165,13 +278,13 @@ namespace armarx
AronUseTypeInfo AronAbstractTypeXMLReader::readUseType(const RapidXmlReaderNode& node) const
{
- AronAbstractTypeXMLReaderData::CheckTagName(node, AronAbstractTypeXMLReaderData::ARON_USE_TYPE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(node, AronAbstractTypeXMLReaderData::ARON_USE_TYPE_TAG);
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_USE_TYPE_INCLUDE_ATTRIBUTE_NAME);
- const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_USE_TYPE_INCLUDE_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME);
+ const std::string include = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_INCLUDE_ATTRIBUTE_NAME.c_str());
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_USE_TYPE_NAME_ATTRIBUTE_NAME);
- const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_USE_TYPE_NAME_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME);
+ const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME.c_str());
AronUseTypeInfo info;
info.typeName = name;
@@ -182,7 +295,7 @@ namespace armarx
types::AronObjectTypeNavigatorPtr AronAbstractTypeXMLReader::readGenerateType(const RapidXmlReaderNode& node) const
{
- AronAbstractTypeXMLReaderData::CheckTagName(node, AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(node, AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPE_TAG);
return types::AronObjectTypeNavigator::DynamicCast(Factory.createSpecific(node, AronNavigatorPath()));
}
}
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.h b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.h
index 2b4186f7d0d3c02ecc4cf701586d30bf082dc693..aceb7e51b023f5443e9130ece8829dc32068ffd8 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.h
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReader.h
@@ -60,6 +60,7 @@ namespace armarx
private:
void parse(const RapidXmlReaderPtr& node);
+ std::string readInclude(const RapidXmlReaderNode& node) const;
AronWriterInfo readWriter(const RapidXmlReaderNode& node) const;
AronReaderInfo readReader(const RapidXmlReaderNode& node) const;
AronUseTypeInfo readUseType(const RapidXmlReaderNode& node) const;
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.cpp b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.cpp
index 1d7452b590c0aaf30b58fadf5957562f07b28c12..08c961c3a8f70062e0457def4a1a0002f58811b2 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.cpp
@@ -55,7 +55,7 @@ namespace armarx
HANDLE_CONTAINER_TYPES
HANDLE_EXTERNAL_TYPES
- //HANDLE_COMPLEX_TYPES
+ HANDLE_COMPLEX_TYPES
#undef RUN_ARON_MACRO
@@ -103,8 +103,8 @@ namespace armarx
// External
types::AronAbstractTypeNavigatorPtr AronExternalTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_PRODUCE_EXTERNAL_NAME_ATTRIBUTE_NAME);
- const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_EXTERNAL_NAME_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME);
+ const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME.c_str());
// check whether type exists
for (const auto& [x, _] : AllTopLevelObjectNames)
@@ -129,8 +129,8 @@ namespace armarx
// Object
types::AronAbstractTypeNavigatorPtr AronObjectTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
- AronAbstractTypeXMLReaderData::CheckAttribute(node, AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_NAME_ATTRIBUTE_NAME);
- const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_NAME_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME);
+ const std::string name = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_NAME_ATTRIBUTE_NAME.c_str());
if (AronAbstractTypeXMLReaderData::HasTagName(node, AronAbstractTypeXMLReaderData::ARON_PRODUCE_TYPE_TAG))
{
@@ -149,11 +149,11 @@ namespace armarx
for (const RapidXmlReaderNode& objectChild : node.nodes())
{
- AronAbstractTypeXMLReaderData::CheckTagName(objectChild, AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_CHILD_TAG);
- AronAbstractTypeXMLReaderData::CheckChildSize(objectChild, 1);
+ AronAbstractTypeXMLReaderData::EnforceTagName(objectChild, AronAbstractTypeXMLReaderData::ARON_OBJECT_CHILD_TAG);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(objectChild, 1);
- AronAbstractTypeXMLReaderData::CheckAttribute(objectChild, AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_CHILD_KEY_ATTRIBUTE_NAME);
- const std::string key = objectChild.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_OBJECT_CHILD_KEY_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceAttribute(objectChild, AronAbstractTypeXMLReaderData::ARON_KEY_ATTRIBUTE_NAME);
+ const std::string key = objectChild.attribute_value(AronAbstractTypeXMLReaderData::ARON_KEY_ATTRIBUTE_NAME.c_str());
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
types::AronAbstractTypeNavigatorPtr childNavigator = create(children[0], AronNavigatorPath(path, key));
@@ -176,25 +176,25 @@ namespace armarx
return aronObjectType;
}
- // List
+ // List type (List)
types::AronAbstractTypeNavigatorPtr AronListTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
- if (node.has_attribute(AronAbstractTypeXMLReaderData::ARON_PRODUCE_LIST_TYPE_ATTRIBUTE_NAME.c_str()))
+ if (node.has_attribute(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str()))
{
- AronAbstractTypeXMLReaderData::CheckChildSize(node, 0);
- const std::string acceptedType = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_LIST_TYPE_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceChildSize(node, 0);
+ const std::string acceptedType = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str());
return types::AronAbstractTypeNavigator::GetAronAbstractTypePtrByName(acceptedType);
}
else
{
- AronAbstractTypeXMLReaderData::CheckChildSize(node, 1);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
const RapidXmlReaderNode listTypeDeclarationNode = nodeChildren[0];
- AronAbstractTypeXMLReaderData::CheckTagName(listTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_PRODUCE_LIST_TYPE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(listTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_TYPE_TAG);
- AronAbstractTypeXMLReaderData::CheckChildSize(listTypeDeclarationNode, 1);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(listTypeDeclarationNode, 1);
std::vector<RapidXmlReaderNode> listTypeNodeChildren = listTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
types::AronAbstractTypeNavigatorPtr type = create(typeNode, AronNavigatorPath(path, "type"));
@@ -203,24 +203,24 @@ namespace armarx
}
}
- // Dict
+ // List type (Dict)
types::AronAbstractTypeNavigatorPtr AronDictTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
- AronAbstractTypeXMLReaderData::CheckChildSize(node, 1);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> nodeChildren = node.nodes();
const RapidXmlReaderNode dictTypeDeclarationNode = nodeChildren[0];
- if (dictTypeDeclarationNode.has_attribute(AronAbstractTypeXMLReaderData::ARON_PRODUCE_DICT_TYPE_ATTRIBUTE_NAME.c_str()))
+ if (dictTypeDeclarationNode.has_attribute(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str()))
{
- AronAbstractTypeXMLReaderData::CheckChildSize(dictTypeDeclarationNode, 0);
- const std::string acceptedType = dictTypeDeclarationNode.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_DICT_TYPE_ATTRIBUTE_NAME.c_str());
+ AronAbstractTypeXMLReaderData::EnforceChildSize(dictTypeDeclarationNode, 0);
+ const std::string acceptedType = dictTypeDeclarationNode.attribute_value(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str());
return types::AronAbstractTypeNavigator::GetAronAbstractTypePtrByName(acceptedType);
}
else
{
- AronAbstractTypeXMLReaderData::CheckTagName(dictTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_PRODUCE_DICT_TYPE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(dictTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_TYPE_TAG);
- AronAbstractTypeXMLReaderData::CheckChildSize(dictTypeDeclarationNode, 1);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(dictTypeDeclarationNode, 1);
std::vector<RapidXmlReaderNode> dictTypeNodeChildren = dictTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
types::AronAbstractTypeNavigatorPtr type = create(typeNode, AronNavigatorPath(path, "type"));
@@ -228,7 +228,7 @@ namespace armarx
}
}
- // Tuple
+ // List types (Tuple)
types::AronAbstractTypeNavigatorPtr AronTupleTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
std::vector<types::AronAbstractTypeNavigatorPtr> types;
@@ -242,18 +242,18 @@ namespace armarx
unsigned int i = 0;
for (const RapidXmlReaderNode& tupleTypeDeclarationNode : nodeChildren)
{
- AronAbstractTypeXMLReaderData::CheckTagName(tupleTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_PRODUCE_TUPLE_TYPE_TAG);
+ AronAbstractTypeXMLReaderData::EnforceTagName(tupleTypeDeclarationNode, AronAbstractTypeXMLReaderData::ARON_TYPE_TAG);
- if (tupleTypeDeclarationNode.has_attribute(AronAbstractTypeXMLReaderData::ARON_PRODUCE_TUPLE_TYPE_ATTRIBUTE_NAME.c_str()))
+ if (tupleTypeDeclarationNode.has_attribute(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str()))
{
- AronAbstractTypeXMLReaderData::CheckChildSize(tupleTypeDeclarationNode, 0);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(tupleTypeDeclarationNode, 0);
- const std::string typeName = tupleTypeDeclarationNode.attribute_value(AronAbstractTypeXMLReaderData::ARON_PRODUCE_TUPLE_TYPE_ATTRIBUTE_NAME.c_str());
+ const std::string typeName = tupleTypeDeclarationNode.attribute_value(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str());
types::AronAbstractTypeNavigatorPtr type = types::AronAbstractTypeNavigator::GetAronAbstractTypePtrByName(typeName);
}
else
{
- AronAbstractTypeXMLReaderData::CheckChildSize(tupleTypeDeclarationNode, 1);
+ AronAbstractTypeXMLReaderData::EnforceChildSize(tupleTypeDeclarationNode, 1);
std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = typeNodeChildren[0];
@@ -265,13 +265,38 @@ namespace armarx
return types::AronAbstractTypeNavigatorPtr(new types::AronTupleTypeNavigator(types, path));
}
- // Blob
- /*types::AronAbstractTypeNavigatorPtr AronBlobTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
+ // Complex type (IVTCByteImage)
+ types::AronAbstractTypeNavigatorPtr AronIVTCByteImageTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
{
- AronAbstractTypeXMLReaderData::checkChildSize(node, 0);
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_WIDTH_ATTRIBUTE_NAME);
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_HEIGHT_ATTRIBUTE_NAME);
+ AronAbstractTypeXMLReaderData::EnforceAttribute(node, AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME);
- return types::AronAbstractTypeNavigatorPtr(new types::AronBlobTypeNavigator("TODO", path));
- }*/
+ int width = std::stoi(node.attribute_value(AronAbstractTypeXMLReaderData::ARON_WIDTH_ATTRIBUTE_NAME.c_str()));
+ int height = std::stoi(node.attribute_value(AronAbstractTypeXMLReaderData::ARON_HEIGHT_ATTRIBUTE_NAME.c_str()));
+ std::string type = node.attribute_value(AronAbstractTypeXMLReaderData::ARON_TYPE_ATTRIBUTE_NAME.c_str());;
+
+
+ return types::AronAbstractTypeNavigatorPtr(new types::AronIVTCByteImageTypeNavigator(width, height, type, path));
+ }
+
+ // Complex type (EigenMatrix)
+ types::AronAbstractTypeNavigatorPtr AronEigenMatrixTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
+ {
+ throw LocalException("AronTupleTypeXMLReaderFactory: Not implemented yet.");
+ }
+
+ // Complex type (OpenCVMat)
+ types::AronAbstractTypeNavigatorPtr AronOpenCVMatTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
+ {
+ throw LocalException("AronTupleTypeXMLReaderFactory: Not implemented yet.");
+ }
+
+ // Complex type (PCLPointcloud)
+ types::AronAbstractTypeNavigatorPtr AronPCLPointcloudTypeXMLReaderFactory::createSpecific(const RapidXmlReaderNode& node, const AronNavigatorPath& path) const
+ {
+ throw LocalException("AronTupleTypeXMLReaderFactory: Not implemented yet.");
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.h b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.h
index a5797edc87fda519976797070a9b615d1ac7fa91..7f6f7750b6c72ef7e06c62301ff7a289bd54a975 100644
--- a/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.h
+++ b/source/RobotAPI/libraries/aron/codegenerator/typeReaders/xmlReader/AronAbstractTypeXMLReaderFactory.h
@@ -84,6 +84,7 @@ namespace armarx
HANDLE_CONTAINER_TYPES
HANDLE_EXTERNAL_TYPES
+ HANDLE_COMPLEX_TYPES
#undef RUN_ARON_MACRO
diff --git a/source/RobotAPI/libraries/aron/data/AronDataNavigatorFactory.cpp b/source/RobotAPI/libraries/aron/data/AronDataNavigatorFactory.cpp
index 8f259df8678d7e2f398dc30dedf858d314a6dd86..73ec25e4f0faf328204aff1a49a601bbdb91285c 100644
--- a/source/RobotAPI/libraries/aron/data/AronDataNavigatorFactory.cpp
+++ b/source/RobotAPI/libraries/aron/data/AronDataNavigatorFactory.cpp
@@ -44,11 +44,11 @@ namespace armarx
HANDLE_CONTAINER_DATA
#undef RUN_ARON_MACRO
- /*#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
- {AronTypeResolver::GetTypeForAronDataTypeId(typeid(Aron##upperType##Type)), AronDataNavigatorFactoryPtrnew Aron##upperType##TypeNavigatorFactory())}, \
+#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
+ {AronResolver::GetTypeForAronDataTypeId(typeid(Aron##upperType)), AronDataNavigatorFactoryPtr(new Aron##upperType##DataNavigatorFactory())}, \
- HANDLE_COMPLEX_DATA
- #undef RUN_ARON_MACRO*/
+ HANDLE_COMPLEX_DATA
+#undef RUN_ARON_MACRO
#define RUN_ARON_MACRO(cppType, upperType, lowerType, capsType) \
{AronResolver::GetTypeForAronDataTypeId(typeid(Aron##upperType)), AronDataNavigatorFactoryPtr(new AronPrimitiveDataNavigatorFactory<Aron##upperType, cppType>())}, \
diff --git a/source/RobotAPI/libraries/aron/data/AronDictDataNavigator.cpp b/source/RobotAPI/libraries/aron/data/AronDictDataNavigator.cpp
index 503d257c3b07e863d106fa4794b740bce70a96b5..f5bcde3b561e18bc24206918fd65f7dfeed358fb 100644
--- a/source/RobotAPI/libraries/aron/data/AronDictDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/data/AronDictDataNavigator.cpp
@@ -87,7 +87,12 @@ namespace armarx
auto it = childrenNavigators.find(key);
if (it == childrenNavigators.end())
{
- throw LocalException("AronDictDataNavigator: Could not find key '" + key + "'. The path was: " + pathToString());
+ std::string all_keys = "";
+ for (const auto& child : this->getAllKeys())
+ {
+ all_keys += child + ", ";
+ }
+ throw LocalException("AronDictDataNavigator: Could not find key '" + key + "'. Found keys: " + all_keys + ". The path was: " + pathToString());
}
return it->second;
}
diff --git a/source/RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.cpp b/source/RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.cpp
index 0d17764e02dd6806b4fd560783b71cd9b722e37f..f2f2cca69d28d1462b5f5e448de8e9f4970b164e 100644
--- a/source/RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.cpp
@@ -122,6 +122,7 @@ namespace armarx
AronDataNavigatorReaderTokenPtr token = stack.top();
data::AronDataNavigatorPtr nav = token->getElementAndIncreaseCnt();
data::AronBlobDataNavigatorPtr casted = data::AronBlobDataNavigator::DynamicCast(nav);
+
return casted->getData();
}
diff --git a/source/RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.cpp b/source/RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.cpp
index dd5d3f6551e5c8d48000670ef4d02de074fac18c..3e9c97db47f132e7db8644b8646be55f3532149a 100644
--- a/source/RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.cpp
@@ -119,6 +119,8 @@ namespace armarx
AronDataNavigatorWriterTokenPtr token = stack.top();
data::AronBlobDataNavigatorPtr aron(new data::AronBlobDataNavigator(AronNavigatorPath()));
aron->setData(elements, data);
+ token->addElement(aron);
+
return true;
}
diff --git a/source/RobotAPI/libraries/aron/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/test/CMakeLists.txt
index 07f169f1b7e0ef35e25add67dda8ef718f026a67..def98c5f47af0ec1105a7fd090406e228782d9c9 100644
--- a/source/RobotAPI/libraries/aron/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/test/CMakeLists.txt
@@ -1,11 +1,35 @@
SET(TEST_NAME aronTest)
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+if(Eigen3_FOUND)
+ include_directories(${Eigen3_INCLUDE_DIR})
+endif()
+
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+if(Simox_FOUND)
+ include_directories(${Simox_INCLUDE_DIR})
+endif()
+
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+if(IVT_FOUND)
+ include_directories(${IVT_INCLUDE_DIRS})
+endif()
+
# Libs required for the tests
-SET(LIBS ${LIBS} ArmarXCore aron)
+SET(LIBS ${LIBS} ArmarXCore aron ivt ivtopencv)
SET(ARON_XML_FILES
xmls/HumanPose.xml
xmls/DictTest.xml
+ xmls/ListTest.xml
+ xmls/NaturalIK.xml
+ xmls/ObjectTest.xml
+ xmls/PrimitiveTest.xml
+ xmls/ImageTest.xml
)
generateAronCppInterface()
diff --git a/source/RobotAPI/libraries/aron/test/aronTest.cpp b/source/RobotAPI/libraries/aron/test/aronTest.cpp
index db02761681325ad3816923a7f0094e9252de72bb..16da880fcabc38dece1c6e790d14da1b1b44459d 100644
--- a/source/RobotAPI/libraries/aron/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/test/aronTest.cpp
@@ -29,6 +29,12 @@
#include <cstdlib>
#include <ctime>
+// IVT
+#include <Image/ByteImage.h>
+
+// Eigen
+#include <Eigen/Core>
+
// Boost
#include <boost/algorithm/string.hpp>
@@ -40,22 +46,25 @@
#include <ArmarXCore/libraries/cppgen/CppClass.h>
// Generated File
-#include "generated/NaturalIK.h"
-#include "generated/ListTest.h"
-#include "generated/DictTest.h"
-#include "generated/PrimitiveTest.h"
-#include "generated/ObjectTest.h"
+#include "aron/NaturalIK.aron.generated.h"
+#include "aron/ListTest.aron.generated.h"
+#include "aron/DictTest.aron.generated.h"
+#include "aron/PrimitiveTest.aron.generated.h"
+#include "aron/ObjectTest.aron.generated.h"
+#include "aron/ImageTest.aron.generated.h"
-#include <Eigen/Core>
-
using namespace armarx;
using namespace aron;
-int generateRandom(int max, int min)
+void initialize_random()
{
std::srand(std::time(nullptr));
- int random = std::rand() % max + min;
+}
+
+int generateRandom(int max, int min)
+{
+ int random = (std::rand() % max) + min;
return random;
}
@@ -70,6 +79,16 @@ std::string generateRandomWord()
return words[i];
}
+std::vector<unsigned char> generateRandomBlob(unsigned int size)
+{
+ std::vector<unsigned char> new_blob(size, 0);
+ for (unsigned int i = 0; i < size; ++i)
+ {
+ new_blob[i] = (generateRandom(127, 0));
+ }
+ return new_blob;
+}
+
AronDataPtr generateAronDataFromType(const AronAbstractTypePtr& type)
{
{
@@ -233,13 +252,23 @@ void initializeRandomly(AronDataPtr& data, const AronAbstractTypePtr& type)
}
}
- // TODO Complex
+ // Complex
{
- AronEigenMatrixTypePtr EigenMatrixType = AronEigenMatrixTypePtr::dynamicCast(type);
- if (EigenMatrixType)
+ AronEigenMatrixTypePtr eigenMatrixType = AronEigenMatrixTypePtr::dynamicCast(type);
+ if (eigenMatrixType)
+ {
+ AronBlobPtr blob = AronBlobPtr::dynamicCast(data);
+ BOOST_CHECK_NE(blob.get(), nullptr);
+ return;
+ }
+
+ AronIVTCByteImageTypePtr ivtCByteImageType = AronIVTCByteImageTypePtr::dynamicCast(type);
+ if (ivtCByteImageType)
{
AronBlobPtr blob = AronBlobPtr::dynamicCast(data);
BOOST_CHECK_NE(blob.get(), nullptr);
+
+ blob->data = generateRandomBlob(blob->data.size());
return;
}
}
@@ -338,6 +367,8 @@ void runTestWithInstances(T& k, T& k2)
BOOST_AUTO_TEST_CASE(AronTests)
{
+ initialize_random();
+
NaturalIKResult k;
NaturalIKResult k2;
runTestWithInstances<NaturalIKResult>(k, k2);
@@ -361,4 +392,8 @@ BOOST_AUTO_TEST_CASE(AronTests)
ObjectTest o2;
ObjectTest o22;
runTestWithInstances<ObjectTest>(o2, o22);
+
+ ImageTest i;
+ ImageTest i2;
+ runTestWithInstances<ImageTest>(i, i2);
}
diff --git a/source/RobotAPI/libraries/aron/test/generated/DictTest.h b/source/RobotAPI/libraries/aron/test/generated/DictTest.h
deleted file mode 100644
index 47247cd011ea77c1ce70c0b32af5ad6ca728fe16..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/DictTest.h
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated.
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/DictTest.xml
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
-
-
-#ifndef ARONTESTSEGMENT__DICTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__DICTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class DictTest
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- std::map<std::string, float> dict;
-
- public:
- DictTest()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::DictTest& i) const
- {
- if ( not (dict == i.dict))
- return false;
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- dict.clear();
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronFloatType::PointerType aronTypeRoot_dict_dicttype = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
- armarx::aron::AronDictType::PointerType aronTypeRoot_dict = armarx::aron::AronDictType::PointerType(new armarx::aron::AronDictType(aronTypeRoot_dict_dicttype));
- aronTypeRoot_objectiteratorcontainer["dict"] = aronTypeRoot_dict;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::DictTest", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("dict");
- w.writeStartDict();
- for (const auto& [dict_dictkey, dict_dictval] : dict)
- {
- w.writeKey(dict_dictkey);
- w.writeFloat(dict_dictval);
- }
- w.writeEndDict();
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("dict");
- r.readStartDict();
- while(!r.readEndDict())
- {
- std::string dict_dictkey = r.readKey();
- float dict_dictiterator;
- dict_dictiterator = r.readFloat();
- dict[dict_dictkey] = dict_dictiterator;
- }
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class DictTest
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__DICTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/generated/ListTest.h b/source/RobotAPI/libraries/aron/test/generated/ListTest.h
deleted file mode 100644
index e325c483e728f39b2b400c1524389b8a7096c852..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/ListTest.h
+++ /dev/null
@@ -1,351 +0,0 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated.
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/ListTest.xml
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
-
-
-#ifndef ARONTESTSEGMENT__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class ListTest
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- protected:
- class ListClass
- {
- public:
- bool element0;
- bool element1;
- bool element2;
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const ListClass& i) const
- {
- if ( not (element0 == i.element0))
- return false;
- if ( not (element1 == i.element1))
- return false;
- if ( not (element2 == i.element2))
- return false;
- return true;
- }
- }; // class ListClass
-
- public:
- std::vector<bool> anotherboolList;
- std::vector<bool> boolList;
- std::vector<double> doubleList;
- std::vector<float> floatList;
- std::vector<int> intList;
- std::vector<long> longList;
- std::vector<ListClass> objectList;
- std::vector<std::string> stringList;
-
- public:
- ListTest()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::ListTest& i) const
- {
- if ( not (anotherboolList == i.anotherboolList))
- return false;
- if ( not (boolList == i.boolList))
- return false;
- if ( not (doubleList == i.doubleList))
- return false;
- if ( not (floatList == i.floatList))
- return false;
- if ( not (intList == i.intList))
- return false;
- if ( not (longList == i.longList))
- return false;
- if ( not (objectList == i.objectList))
- return false;
- if ( not (stringList == i.stringList))
- return false;
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- anotherboolList.clear();
- boolList.clear();
- doubleList.clear();
- floatList.clear();
- intList.clear();
- longList.clear();
- objectList.clear();
- stringList.clear();
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_anotherboolList_listtype = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- armarx::aron::AronListType::PointerType aronTypeRoot_anotherboolList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_anotherboolList_listtype));
- aronTypeRoot_objectiteratorcontainer["anotherboolList"] = aronTypeRoot_anotherboolList;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_boolList_listtype = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- armarx::aron::AronListType::PointerType aronTypeRoot_boolList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_boolList_listtype));
- aronTypeRoot_objectiteratorcontainer["boolList"] = aronTypeRoot_boolList;
- armarx::aron::AronDoubleType::PointerType aronTypeRoot_doubleList_listtype = armarx::aron::AronDoubleType::PointerType(new armarx::aron::AronDoubleType());
- armarx::aron::AronListType::PointerType aronTypeRoot_doubleList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_doubleList_listtype));
- aronTypeRoot_objectiteratorcontainer["doubleList"] = aronTypeRoot_doubleList;
- armarx::aron::AronFloatType::PointerType aronTypeRoot_floatList_listtype = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
- armarx::aron::AronListType::PointerType aronTypeRoot_floatList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_floatList_listtype));
- aronTypeRoot_objectiteratorcontainer["floatList"] = aronTypeRoot_floatList;
- armarx::aron::AronIntType::PointerType aronTypeRoot_intList_listtype = armarx::aron::AronIntType::PointerType(new armarx::aron::AronIntType());
- armarx::aron::AronListType::PointerType aronTypeRoot_intList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_intList_listtype));
- aronTypeRoot_objectiteratorcontainer["intList"] = aronTypeRoot_intList;
- armarx::aron::AronLongType::PointerType aronTypeRoot_longList_listtype = armarx::aron::AronLongType::PointerType(new armarx::aron::AronLongType());
- armarx::aron::AronListType::PointerType aronTypeRoot_longList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_longList_listtype));
- aronTypeRoot_objectiteratorcontainer["longList"] = aronTypeRoot_longList;
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectList_listtype_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element0 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element0"] = aronTypeRoot_objectList_listtype_element0;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element1 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element1"] = aronTypeRoot_objectList_listtype_element1;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element2 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element2"] = aronTypeRoot_objectList_listtype_element2;
- armarx::aron::AronObjectType::PointerType aronTypeRoot_objectList_listtype = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("ListClass", aronTypeRoot_objectList_listtype_objectiteratorcontainer));
- armarx::aron::AronListType::PointerType aronTypeRoot_objectList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_objectList_listtype));
- aronTypeRoot_objectiteratorcontainer["objectList"] = aronTypeRoot_objectList;
- armarx::aron::AronStringType::PointerType aronTypeRoot_stringList_listtype = armarx::aron::AronStringType::PointerType(new armarx::aron::AronStringType());
- armarx::aron::AronListType::PointerType aronTypeRoot_stringList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_stringList_listtype));
- aronTypeRoot_objectiteratorcontainer["stringList"] = aronTypeRoot_stringList;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::ListTest", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("anotherboolList");
- w.writeStartList();
- for(unsigned int anotherboolList_listiterator = 0; anotherboolList_listiterator < anotherboolList.size(); ++anotherboolList_listiterator)
- {
- w.writeBool(anotherboolList[anotherboolList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("boolList");
- w.writeStartList();
- for(unsigned int boolList_listiterator = 0; boolList_listiterator < boolList.size(); ++boolList_listiterator)
- {
- w.writeBool(boolList[boolList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("doubleList");
- w.writeStartList();
- for(unsigned int doubleList_listiterator = 0; doubleList_listiterator < doubleList.size(); ++doubleList_listiterator)
- {
- w.writeDouble(doubleList[doubleList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("floatList");
- w.writeStartList();
- for(unsigned int floatList_listiterator = 0; floatList_listiterator < floatList.size(); ++floatList_listiterator)
- {
- w.writeFloat(floatList[floatList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("intList");
- w.writeStartList();
- for(unsigned int intList_listiterator = 0; intList_listiterator < intList.size(); ++intList_listiterator)
- {
- w.writeInt(intList[intList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("longList");
- w.writeStartList();
- for(unsigned int longList_listiterator = 0; longList_listiterator < longList.size(); ++longList_listiterator)
- {
- w.writeLong(longList[longList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("objectList");
- w.writeStartList();
- for(unsigned int objectList_listiterator = 0; objectList_listiterator < objectList.size(); ++objectList_listiterator)
- {
- w.writeStartDict();
- w.writeKey("element0");
- w.writeBool(objectList[objectList_listiterator].element0);
- w.writeKey("element1");
- w.writeBool(objectList[objectList_listiterator].element1);
- w.writeKey("element2");
- w.writeBool(objectList[objectList_listiterator].element2);
- w.writeEndDict();
- }
- w.writeEndList();
- w.writeKey("stringList");
- w.writeStartList();
- for(unsigned int stringList_listiterator = 0; stringList_listiterator < stringList.size(); ++stringList_listiterator)
- {
- w.writeString(stringList[stringList_listiterator]);
- }
- w.writeEndList();
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("anotherboolList");
- r.readStartList();
- while(!r.readEndList())
- {
- bool anotherboolList_listiterator;
- anotherboolList_listiterator = r.readBool();
- anotherboolList.push_back(anotherboolList_listiterator);
- }
- r.readMember("boolList");
- r.readStartList();
- while(!r.readEndList())
- {
- bool boolList_listiterator;
- boolList_listiterator = r.readBool();
- boolList.push_back(boolList_listiterator);
- }
- r.readMember("doubleList");
- r.readStartList();
- while(!r.readEndList())
- {
- double doubleList_listiterator;
- doubleList_listiterator = r.readDouble();
- doubleList.push_back(doubleList_listiterator);
- }
- r.readMember("floatList");
- r.readStartList();
- while(!r.readEndList())
- {
- float floatList_listiterator;
- floatList_listiterator = r.readFloat();
- floatList.push_back(floatList_listiterator);
- }
- r.readMember("intList");
- r.readStartList();
- while(!r.readEndList())
- {
- int intList_listiterator;
- intList_listiterator = r.readInt();
- intList.push_back(intList_listiterator);
- }
- r.readMember("longList");
- r.readStartList();
- while(!r.readEndList())
- {
- long longList_listiterator;
- longList_listiterator = r.readLong();
- longList.push_back(longList_listiterator);
- }
- r.readMember("objectList");
- r.readStartList();
- while(!r.readEndList())
- {
- ListClass objectList_listiterator;
- r.readStartDict();
- r.readMember("element0");
- objectList_listiterator.element0 = r.readBool();
- r.readMember("element1");
- objectList_listiterator.element1 = r.readBool();
- r.readMember("element2");
- objectList_listiterator.element2 = r.readBool();
- r.readEndDict();
- objectList.push_back(objectList_listiterator);
- }
- r.readMember("stringList");
- r.readStartList();
- while(!r.readEndList())
- {
- std::string stringList_listiterator;
- stringList_listiterator = r.readString();
- stringList.push_back(stringList_listiterator);
- }
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class ListTest
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h b/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h
deleted file mode 100644
index b92ab591fa908ec486d3c00569d5002605072088..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/NaturalIK.h
+++ /dev/null
@@ -1,165 +0,0 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated.
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
- * Timestamp of generation: Mon Aug 31 14:07:08 2020
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
-
-
-#ifndef ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class NaturalIKResult
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- std::vector<float> jointValues;
- bool reached;
-
- public:
- NaturalIKResult()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::NaturalIKResult& i) const
- {
- if (not(jointValues == i.jointValues))
- {
- return false;
- }
- if (not(reached == i.reached))
- {
- return false;
- }
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- jointValues.clear();
- reached = {};
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronFloatType::PointerType aronTypeRoot_jointValues_listtype = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
- armarx::aron::AronListType::PointerType aronTypeRoot_jointValues = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_jointValues_listtype));
- aronTypeRoot_objectiteratorcontainer["jointValues"] = aronTypeRoot_jointValues;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_reached = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["reached"] = aronTypeRoot_reached;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::NaturalIKResult", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("jointValues");
- w.writeStartList();
- for (unsigned int jointValues_listiterator = 0; jointValues_listiterator < jointValues.size(); ++jointValues_listiterator)
- {
- w.writeFloat(jointValues[jointValues_listiterator]);
- }
- w.writeEndList();
- w.writeKey("reached");
- w.writeBool(reached);
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("jointValues");
- r.readStartList();
- while (!r.readEndList())
- {
- float jointValues_listiterator;
- jointValues_listiterator = r.readFloat();
- jointValues.push_back(jointValues_listiterator);
- }
- r.readMember("reached");
- reached = r.readBool();
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class NaturalIKResult
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__NATURALIKRESULT__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/generated/ObjectTest.h b/source/RobotAPI/libraries/aron/test/generated/ObjectTest.h
deleted file mode 100644
index 09fc9ac3fd0215122885d69afd86d917b39a49f8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/ObjectTest.h
+++ /dev/null
@@ -1,340 +0,0 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/ObjectTest.xml
- * Timestamp of generation: Tue Jul 28 18:11:50 2020
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
-
-
-#ifndef ARONTESTSEGMENT__SIMPLECLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__SIMPLECLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class SimpleClass
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- bool the_bool;
-
- public:
- SimpleClass()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::SimpleClass& i) const
- {
- if ( not (the_bool == i.the_bool))
- return false;
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- the_bool = {};
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_the_bool = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["the_bool"] = aronTypeRoot_the_bool;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::SimpleClass", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("the_bool");
- w.writeBool(the_bool);
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("the_bool");
- the_bool = r.readBool();
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class SimpleClass
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__SIMPLECLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-// *************
-// Here comes another auto-generated class. Don't mind the duplicated includes - everything is guarded!
-// *************
-
-#ifndef ARONTESTSEGMENT__OBJECTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__OBJECTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class ObjectTest
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- protected:
- class OtherFancyObject
- {
- public:
- bool blarg;
- int other_blarg;
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const OtherFancyObject& i) const
- {
- if ( not (blarg == i.blarg))
- return false;
- if ( not (other_blarg == i.other_blarg))
- return false;
- return true;
- }
- }; // class OtherFancyObject
-
- class VisionClass
- {
- public:
- bool blarg;
- int other_object;
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const VisionClass& i) const
- {
- if ( not (blarg == i.blarg))
- return false;
- if ( not (other_object == i.other_object))
- return false;
- return true;
- }
- }; // class VisionClass
-
- public:
- VisionClass another_local_object;
- OtherFancyObject local_object;
-
- public:
- ObjectTest()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::ObjectTest& i) const
- {
- if ( not (another_local_object == i.another_local_object))
- return false;
- if ( not (local_object == i.local_object))
- return false;
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- another_local_object.blarg = {};
- another_local_object.other_object = {};
- local_object.blarg = {};
- local_object.other_blarg = {};
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_another_local_object_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_another_local_object_blarg = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_another_local_object_objectiteratorcontainer["blarg"] = aronTypeRoot_another_local_object_blarg;
- armarx::aron::AronIntType::PointerType aronTypeRoot_another_local_object_other_object = armarx::aron::AronIntType::PointerType(new armarx::aron::AronIntType());
- aronTypeRoot_another_local_object_objectiteratorcontainer["other_object"] = aronTypeRoot_another_local_object_other_object;
- armarx::aron::AronObjectType::PointerType aronTypeRoot_another_local_object = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("VisionClass", aronTypeRoot_another_local_object_objectiteratorcontainer));
- aronTypeRoot_objectiteratorcontainer["another_local_object"] = aronTypeRoot_another_local_object;
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_local_object_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_local_object_blarg = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_local_object_objectiteratorcontainer["blarg"] = aronTypeRoot_local_object_blarg;
- armarx::aron::AronIntType::PointerType aronTypeRoot_local_object_other_blarg = armarx::aron::AronIntType::PointerType(new armarx::aron::AronIntType());
- aronTypeRoot_local_object_objectiteratorcontainer["other_blarg"] = aronTypeRoot_local_object_other_blarg;
- armarx::aron::AronObjectType::PointerType aronTypeRoot_local_object = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("OtherFancyObject", aronTypeRoot_local_object_objectiteratorcontainer));
- aronTypeRoot_objectiteratorcontainer["local_object"] = aronTypeRoot_local_object;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::ObjectTest", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("another_local_object");
- w.writeStartDict();
- w.writeKey("blarg");
- w.writeBool(another_local_object.blarg);
- w.writeKey("other_object");
- w.writeInt(another_local_object.other_object);
- w.writeEndDict();
- w.writeKey("local_object");
- w.writeStartDict();
- w.writeKey("blarg");
- w.writeBool(local_object.blarg);
- w.writeKey("other_blarg");
- w.writeInt(local_object.other_blarg);
- w.writeEndDict();
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("another_local_object");
- r.readStartDict();
- r.readMember("blarg");
- another_local_object.blarg = r.readBool();
- r.readMember("other_object");
- another_local_object.other_object = r.readInt();
- r.readEndDict();
- r.readMember("local_object");
- r.readStartDict();
- r.readMember("blarg");
- local_object.blarg = r.readBool();
- r.readMember("other_blarg");
- local_object.other_blarg = r.readInt();
- r.readEndDict();
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class ObjectTest
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__OBJECTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/generated/PrimitiveTest.h b/source/RobotAPI/libraries/aron/test/generated/PrimitiveTest.h
deleted file mode 100644
index 8505b602f7d6dd57a0d6e6a03795e1383b8c6228..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/PrimitiveTest.h
+++ /dev/null
@@ -1,188 +0,0 @@
-/*
- * 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/>.
- *
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- *************************************************************************
- * WARNING: This file is autogenerated.
- * Original file: /home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/PrimitiveTest.xml
- * Please do not edit since your changes may be overwritten on the next generation
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
- *************************************************************************
- */
-
-
-#ifndef ARONTESTSEGMENT__PRIMITIVETEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTSEGMENT__PRIMITIVETEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class PrimitiveTest
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- bool the_bool;
- double the_double;
- float the_float;
- int the_int;
- long the_long;
- std::string the_string;
-
- public:
- PrimitiveTest()
- {
- initialize();
- reset();
- }
-
- public:
- /**
- * @brief operator==() - This method checks whether all values equal another instance.
- * @param i - The other instance
- * @return - true, if all members are the same, false otherwise
- */
- bool operator==(const armarx::PrimitiveTest& i) const
- {
- if ( not (the_bool == i.the_bool))
- return false;
- if ( not (the_double == i.the_double))
- return false;
- if ( not (the_float == i.the_float))
- return false;
- if ( not (the_int == i.the_int))
- return false;
- if ( not (the_long == i.the_long))
- return false;
- if ( not (the_string == i.the_string))
- return false;
- return true;
- }
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- the_bool = {};
- the_double = {};
- the_float = {};
- the_int = {};
- the_long = {};
- the_string = {};
- }
- /**
- * @brief initialize() - This method initializeses special base-class members.
- * @return - nothing
- */
- virtual void initialize() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_the_bool = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["the_bool"] = aronTypeRoot_the_bool;
- armarx::aron::AronDoubleType::PointerType aronTypeRoot_the_double = armarx::aron::AronDoubleType::PointerType(new armarx::aron::AronDoubleType());
- aronTypeRoot_objectiteratorcontainer["the_double"] = aronTypeRoot_the_double;
- armarx::aron::AronFloatType::PointerType aronTypeRoot_the_float = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
- aronTypeRoot_objectiteratorcontainer["the_float"] = aronTypeRoot_the_float;
- armarx::aron::AronIntType::PointerType aronTypeRoot_the_int = armarx::aron::AronIntType::PointerType(new armarx::aron::AronIntType());
- aronTypeRoot_objectiteratorcontainer["the_int"] = aronTypeRoot_the_int;
- armarx::aron::AronLongType::PointerType aronTypeRoot_the_long = armarx::aron::AronLongType::PointerType(new armarx::aron::AronLongType());
- aronTypeRoot_objectiteratorcontainer["the_long"] = aronTypeRoot_the_long;
- armarx::aron::AronStringType::PointerType aronTypeRoot_the_string = armarx::aron::AronStringType::PointerType(new armarx::aron::AronStringType());
- aronTypeRoot_objectiteratorcontainer["the_string"] = aronTypeRoot_the_string;
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::PrimitiveTest", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief write() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("the_bool");
- w.writeBool(the_bool);
- w.writeKey("the_double");
- w.writeDouble(the_double);
- w.writeKey("the_float");
- w.writeFloat(the_float);
- w.writeKey("the_int");
- w.writeInt(the_int);
- w.writeKey("the_long");
- w.writeLong(the_long);
- w.writeKey("the_string");
- w.writeString(the_string);
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("the_bool");
- the_bool = r.readBool();
- r.readMember("the_double");
- the_double = r.readDouble();
- r.readMember("the_float");
- the_float = r.readFloat();
- r.readMember("the_int");
- the_int = r.readInt();
- r.readMember("the_long");
- the_long = r.readLong();
- r.readMember("the_string");
- the_string = r.readString();
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class PrimitiveTest
-} // namespace armarx
-
-#endif // ARONTESTSEGMENT__PRIMITIVETEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/generated/output.generated.h b/source/RobotAPI/libraries/aron/test/generated/output.generated.h
deleted file mode 100644
index e78beefa4467582905e32f2b8fa14b9c84bf5e4c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/test/generated/output.generated.h
+++ /dev/null
@@ -1,383 +0,0 @@
-#ifndef ARONTESTPRODUCER__LISTCLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTPRODUCER__LISTCLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class ListClass
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- bool element0;
- bool element1;
- bool element2;
-
- public:
- ListClass()
- {
- reset();
- }
-
- public:
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- element0 = {};
- element1 = {};
- element2 = {};
- }
- /**
- * @brief reset() - This method sets special base-class members.
- * @return - nothing
- */
- virtual void setup() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_element0 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["element0"] = (aronTypeRoot_element0);
- armarx::aron::AronBoolType::PointerType aronTypeRoot_element1 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["element1"] = (aronTypeRoot_element1);
- armarx::aron::AronBoolType::PointerType aronTypeRoot_element2 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectiteratorcontainer["element2"] = (aronTypeRoot_element2);
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::ListClass", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief read() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("element0");
- w.writeBool(element0);
- w.writeKey("element1");
- w.writeBool(element1);
- w.writeKey("element2");
- w.writeBool(element2);
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("element0");
- element0 = r.readBool();
- r.readMember("element1");
- element1 = r.readBool();
- r.readMember("element2");
- element2 = r.readBool();
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class ListClass
-} // namespace armarx
-
-#endif // ARONTESTPRODUCER__LISTCLASS__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#ifndef ARONTESTPRODUCER__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-#define ARONTESTPRODUCER__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
-
-#include <string>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/codegenerator/AronCppClass.h>
-#include <RobotAPI/libraries/aron/io/classWriters/AronDataNavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/io/classReaders/AronDataNavigatorReader/AronDataNavigatorReader.h>
-
-namespace armarx
-{
- class ListTest
- : virtual public armarx::aron::codegeneration::AronCppClass
- {
- public:
- std::vector<bool> anotherboolList;
- std::vector<bool> boolList;
- std::vector<double> doubleList;
- std::vector<float> floatList;
- std::vector<int> intList;
- std::vector<long> longList;
- std::vector<armarx::ListClass> objectList;
- std::vector<std::string> stringList;
-
- public:
- ListTest()
- {
- reset();
- }
-
- public:
- /**
- * @brief reset() - This method resets all member variables to default.
- * @return - nothing
- */
- virtual void reset() override
- {
- anotherboolList.clear();
- boolList.clear();
- doubleList.clear();
- floatList.clear();
- intList.clear();
- longList.clear();
- objectList.clear();
- stringList.clear();
- }
- /**
- * @brief reset() - This method sets special base-class members.
- * @return - nothing
- */
- virtual void setup() override
- {
- // setup aronType
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_anotherboolList_listtype = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- armarx::aron::AronListType::PointerType aronTypeRoot_anotherboolList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_anotherboolList_listtype));
- aronTypeRoot_objectiteratorcontainer["anotherboolList"] = (aronTypeRoot_anotherboolList);
- armarx::aron::AronBoolType::PointerType aronTypeRoot_boolList_listtype = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- armarx::aron::AronListType::PointerType aronTypeRoot_boolList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_boolList_listtype));
- aronTypeRoot_objectiteratorcontainer["boolList"] = (aronTypeRoot_boolList);
- armarx::aron::AronDoubleType::PointerType aronTypeRoot_doubleList_listtype = armarx::aron::AronDoubleType::PointerType(new armarx::aron::AronDoubleType());
- armarx::aron::AronListType::PointerType aronTypeRoot_doubleList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_doubleList_listtype));
- aronTypeRoot_objectiteratorcontainer["doubleList"] = (aronTypeRoot_doubleList);
- armarx::aron::AronFloatType::PointerType aronTypeRoot_floatList_listtype = armarx::aron::AronFloatType::PointerType(new armarx::aron::AronFloatType());
- armarx::aron::AronListType::PointerType aronTypeRoot_floatList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_floatList_listtype));
- aronTypeRoot_objectiteratorcontainer["floatList"] = (aronTypeRoot_floatList);
- armarx::aron::AronIntType::PointerType aronTypeRoot_intList_listtype = armarx::aron::AronIntType::PointerType(new armarx::aron::AronIntType());
- armarx::aron::AronListType::PointerType aronTypeRoot_intList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_intList_listtype));
- aronTypeRoot_objectiteratorcontainer["intList"] = (aronTypeRoot_intList);
- armarx::aron::AronLongType::PointerType aronTypeRoot_longList_listtype = armarx::aron::AronLongType::PointerType(new armarx::aron::AronLongType());
- armarx::aron::AronListType::PointerType aronTypeRoot_longList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_longList_listtype));
- aronTypeRoot_objectiteratorcontainer["longList"] = (aronTypeRoot_longList);
- std::map<std::string, armarx::aron::AronAbstractType::PointerType> aronTypeRoot_objectList_listtype_objectiteratorcontainer;
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element0 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element0"] = (aronTypeRoot_objectList_listtype_element0);
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element1 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element1"] = (aronTypeRoot_objectList_listtype_element1);
- armarx::aron::AronBoolType::PointerType aronTypeRoot_objectList_listtype_element2 = armarx::aron::AronBoolType::PointerType(new armarx::aron::AronBoolType());
- aronTypeRoot_objectList_listtype_objectiteratorcontainer["element2"] = (aronTypeRoot_objectList_listtype_element2);
- armarx::aron::AronObjectType::PointerType aronTypeRoot_objectList_listtype = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::ListClass", aronTypeRoot_objectList_listtype_objectiteratorcontainer));
- armarx::aron::AronListType::PointerType aronTypeRoot_objectList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_objectList_listtype));
- aronTypeRoot_objectiteratorcontainer["objectList"] = (aronTypeRoot_objectList);
- armarx::aron::AronStringType::PointerType aronTypeRoot_stringList_listtype = armarx::aron::AronStringType::PointerType(new armarx::aron::AronStringType());
- armarx::aron::AronListType::PointerType aronTypeRoot_stringList = armarx::aron::AronListType::PointerType(new armarx::aron::AronListType(aronTypeRoot_stringList_listtype));
- aronTypeRoot_objectiteratorcontainer["stringList"] = (aronTypeRoot_stringList);
- armarx::aron::AronObjectType::PointerType aronTypeRoot = armarx::aron::AronObjectType::PointerType(new armarx::aron::AronObjectType("armarx::ListTest", aronTypeRoot_objectiteratorcontainer));
- aronType = aronTypeRoot;
- }
- /**
- * @brief read() - This method returns a new type from the member data types using a writer implementation.
- * @param w - The writer implementation
- * @return - the result of the writer implementation
- */
- virtual void write(armarx::aron::io::AronWriter& w) const override
- {
- w.writeStartDict();
- w.writeKey("anotherboolList");
- w.writeStartList();
- for(unsigned int anotherboolList_listiterator = 0; anotherboolList_listiterator < anotherboolList.size(); ++anotherboolList_listiterator)
- {
- w.writeBool(anotherboolList[anotherboolList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("boolList");
- w.writeStartList();
- for(unsigned int boolList_listiterator = 0; boolList_listiterator < boolList.size(); ++boolList_listiterator)
- {
- w.writeBool(boolList[boolList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("doubleList");
- w.writeStartList();
- for(unsigned int doubleList_listiterator = 0; doubleList_listiterator < doubleList.size(); ++doubleList_listiterator)
- {
- w.writeDouble(doubleList[doubleList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("floatList");
- w.writeStartList();
- for(unsigned int floatList_listiterator = 0; floatList_listiterator < floatList.size(); ++floatList_listiterator)
- {
- w.writeFloat(floatList[floatList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("intList");
- w.writeStartList();
- for(unsigned int intList_listiterator = 0; intList_listiterator < intList.size(); ++intList_listiterator)
- {
- w.writeInt(intList[intList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("longList");
- w.writeStartList();
- for(unsigned int longList_listiterator = 0; longList_listiterator < longList.size(); ++longList_listiterator)
- {
- w.writeLong(longList[longList_listiterator]);
- }
- w.writeEndList();
- w.writeKey("objectList");
- w.writeStartList();
- for(unsigned int objectList_listiterator = 0; objectList_listiterator < objectList.size(); ++objectList_listiterator)
- {
- w.writeStartDict();
- w.writeKey("element0");
- w.writeBool(objectList[objectList_listiterator].element0);
- w.writeKey("element1");
- w.writeBool(objectList[objectList_listiterator].element1);
- w.writeKey("element2");
- w.writeBool(objectList[objectList_listiterator].element2);
- w.writeEndDict();
- }
- w.writeEndList();
- w.writeKey("stringList");
- w.writeStartList();
- for(unsigned int stringList_listiterator = 0; stringList_listiterator < stringList.size(); ++stringList_listiterator)
- {
- w.writeString(stringList[stringList_listiterator]);
- }
- w.writeEndList();
- w.writeEndDict();
- }
- /**
- * @brief read() - This method sets the struct members to new values given in a reader implementation.
- * @param r - The reader implementation
- * @return - nothing
- */
- virtual void read(armarx::aron::io::AronReader& r) override
- {
- reset();
-
- r.readStartDict();
- r.readMember("anotherboolList");
- r.readStartList();
- while(!r.readEndList())
- {
- bool anotherboolList_listiterator;
- anotherboolList_listiterator = r.readBool();
- anotherboolList.push_back(anotherboolList_listiterator);
- }
- r.readMember("boolList");
- r.readStartList();
- while(!r.readEndList())
- {
- bool boolList_listiterator;
- boolList_listiterator = r.readBool();
- boolList.push_back(boolList_listiterator);
- }
- r.readMember("doubleList");
- r.readStartList();
- while(!r.readEndList())
- {
- double doubleList_listiterator;
- doubleList_listiterator = r.readDouble();
- doubleList.push_back(doubleList_listiterator);
- }
- r.readMember("floatList");
- r.readStartList();
- while(!r.readEndList())
- {
- float floatList_listiterator;
- floatList_listiterator = r.readFloat();
- floatList.push_back(floatList_listiterator);
- }
- r.readMember("intList");
- r.readStartList();
- while(!r.readEndList())
- {
- int intList_listiterator;
- intList_listiterator = r.readInt();
- intList.push_back(intList_listiterator);
- }
- r.readMember("longList");
- r.readStartList();
- while(!r.readEndList())
- {
- long longList_listiterator;
- longList_listiterator = r.readLong();
- longList.push_back(longList_listiterator);
- }
- r.readMember("objectList");
- r.readStartList();
- while(!r.readEndList())
- {
- armarx::ListClass objectList_listiterator;
- r.readStartDict();
- r.readMember("element0");
- objectList_listiterator.element0 = r.readBool();
- r.readMember("element1");
- objectList_listiterator.element1 = r.readBool();
- r.readMember("element2");
- objectList_listiterator.element2 = r.readBool();
- r.readEndDict();
- objectList.push_back(objectList_listiterator);
- }
- r.readMember("stringList");
- r.readStartList();
- while(!r.readEndList())
- {
- std::string stringList_listiterator;
- stringList_listiterator = r.readString();
- stringList.push_back(stringList_listiterator);
- }
- r.readEndDict();
- }
- /**
- * @brief specializedWrite() - This method returns a new type from the member data types using a writer implementation.
- * @return - the result of the writer implementation
- */
- armarx::aron::AronDataPtr toAron() const
- {
- armarx::aron::io::AronDataNavigatorWriter writer;
- this->write(writer);
- return writer.getResult();
- }
- /**
- * @brief specializedRead() - This method sets the struct members to new values given in a reader implementation.
- * @return - nothing
- */
- void fromAron(const armarx::aron::AronDataPtr& input)
- {
- armarx::aron::io::AronDataNavigatorReader reader(input);
- this->read(reader);
- }
- }; // class ListTest
-} // namespace armarx
-
-#endif // ARONTESTPRODUCER__LISTTEST__ARON_TYPE_DEFINITION_INCLUDE_GUARD
diff --git a/source/RobotAPI/libraries/aron/test/xmls/DictTest.xml b/source/RobotAPI/libraries/aron/test/xmls/DictTest.xml
index 5757b9392ee398c23ba3215c038c55d133fb085a..ab83ff2457d1903cda941ca7a2f96a61ae5bd61e 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/DictTest.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/DictTest.xml
@@ -1,6 +1,8 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+ <Includes>
+ </Includes>
<Serializers>
<Writers>
</Writers>
@@ -13,9 +15,9 @@
<GenerateType name='armarx::DictTest'>
<objectchild key='dict'>
<Dict>
- <DictType>
+ <Type>
<Float />
- </DictType>
+ </Type>
</Dict>
</ObjectChild>
</GenerateType>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/HumanPose.xml b/source/RobotAPI/libraries/aron/test/xmls/HumanPose.xml
index ab39fae3b5fd5be0de040c47fd77fd4eadf77254..f31b3f76b78adc7586df0f19bdb7c62071bb2b15 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/HumanPose.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/HumanPose.xml
@@ -1,7 +1,8 @@
-<!--This class contains the data structure for NaturalIKResults -->
+<!--This class contains the data structure for OpenPoseEstimationResults -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
-
+ <Includes>
+ </Includes>
<Serializers>
<Writers>
@@ -16,7 +17,7 @@
</UseTypes>
<GenerateTypes>
- <GenerateType name='armarx::NaturalIKResult'>
+ <GenerateType name='armarx::OpenPoseEstimationResult'>
<ObjectChild key='reached'>
<Bool />
@@ -24,9 +25,9 @@
<ObjectChild key='jointValues'>
<List>
- <ListType>
+ <Type>
<Float />
- </ListType>
+ </Type>
</List>
</ObjectChild>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/ImageTest.xml b/source/RobotAPI/libraries/aron/test/xmls/ImageTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9dea22928b95200ecad0424988839dd3ab80c719
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/test/xmls/ImageTest.xml
@@ -0,0 +1,15 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <Includes>
+ <Include include="<Eigen/Core>" />
+ <Include include="<Image/ByteImage.h>" />
+ </Includes>
+ <GenerateTypes>
+ <GenerateType name='armarx::ImageTest'>
+ <ObjectChild key='the_ivt_image'>
+ <IVTCByteImage width="25" height="25" type="CByteImage::ImageType::eGrayScale" />
+ </ObjectChild>
+ </GenerateType>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/ListTest.xml b/source/RobotAPI/libraries/aron/test/xmls/ListTest.xml
index 3cb8666d888ae9742027dcae7ab1ad55a94521d1..5bb792dddcb4594fa043b9a206058af27b26ddce 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/ListTest.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/ListTest.xml
@@ -1,68 +1,63 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <Serializers>
- <Writers>
- </Writers>
- <Readers>
- </Readers>
- </Serializers>
- <UseTypes>
- </UseTypes>
+ <Includes>
+ <include include="<Eigen/Core>" />
+ </Includes>
<GenerateTypes>
<GenerateType name='armarx::ListTest'>
<ObjectChild key='floatList'>
<List>
- <ListType>
+ <Type>
<Float />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='intList'>
<List>
- <ListType>
+ <Type>
<Int />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='doubleList'>
<List>
- <ListType>
+ <Type>
<Double />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='longList'>
<List>
- <ListType>
+ <Type>
<Long />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='stringList'>
<List>
- <ListType>
+ <Type>
<String />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='boolList'>
<List>
- <ListType>
+ <Type>
<Bool />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='anotherboolList'>
<List>
- <ListType>
+ <Type>
<Bool />
- </ListType>
+ </Type>
</List>
</ObjectChild>
<ObjectChild key='objectList'>
<List>
- <ListType>
+ <Type>
<Object name='ListClass'>
<ObjectChild key='element0'>
<Bool />
@@ -74,7 +69,7 @@
<Bool />
</ObjectChild>
</Object>
- </ListType>
+ </Type>
</List>
</ObjectChild>
</GenerateType>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml b/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
index ab39fae3b5fd5be0de040c47fd77fd4eadf77254..4c388859eb2ab1256fda51caf0ad33b291ce7141 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/NaturalIK.xml
@@ -1,7 +1,8 @@
<!--This class contains the data structure for NaturalIKResults -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
-
+ <Includes>
+ </Includes>
<Serializers>
<Writers>
@@ -24,9 +25,9 @@
<ObjectChild key='jointValues'>
<List>
- <ListType>
+ <Type>
<Float />
- </ListType>
+ </Type>
</List>
</ObjectChild>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/ObjectTest.xml b/source/RobotAPI/libraries/aron/test/xmls/ObjectTest.xml
index 19d48b8e5ff3986d22825b7aa1e9a6dbb39d6a25..2504e9f5eb7ff87485f9f1a040cdc942a1098e3f 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/ObjectTest.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/ObjectTest.xml
@@ -1,6 +1,8 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+ <Includes>
+ </Includes>
<Serializers>
<Writers>
</Writers>
diff --git a/source/RobotAPI/libraries/aron/test/xmls/PrimitiveTest.xml b/source/RobotAPI/libraries/aron/test/xmls/PrimitiveTest.xml
index 4bf6e14022c300e226ba8aad827dd086752928e0..72dfa26a7b27d1997ef0bade957cb6e686671abc 100644
--- a/source/RobotAPI/libraries/aron/test/xmls/PrimitiveTest.xml
+++ b/source/RobotAPI/libraries/aron/test/xmls/PrimitiveTest.xml
@@ -1,6 +1,8 @@
<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
+ <Includes>
+ </Includes>
<Serializers>
<Writers>
</Writers>
diff --git a/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.cpp
index 6c7e59e441368fd479631fe7e29d1684e1e21ced..0317e49261f52ff4709685c5a04de7e194973434 100644
--- a/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.cpp
@@ -230,6 +230,20 @@ namespace armarx
return m;
}
+ CppMethodPtr AronAbstractTypeNavigator::toEqualsMethod() const
+ {
+ std::stringstream doc;
+ doc << "@brief operator==() - This method checks whether all values equal another instance. \n";
+ doc << "@param i - The other instance\n";
+ doc << "@return - true, if all members are the same, false otherwise";
+
+ CppMethodPtr m = CppMethodPtr(new CppMethod("bool operator==(const " + this->getFullCppTypename() + "& i) const", doc.str()));
+ CppBlockPtr b = this->getEqualsBlock("", "i");
+ b->addLine("return true;");
+ m->setBlock(b);
+ return m;
+ }
+
// static methods
AronAbstractTypeNavigatorPtr AronAbstractTypeNavigator::GetAronAbstractTypePtrByName(const std::string& name)
{
diff --git a/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.h
index 61c7798d1718b6bd78a09281cd0dbfdf08d9a55a..0bb2143f4c352692d571acec942e7141086d497c 100644
--- a/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronAbstractTypeNavigator.h
@@ -97,6 +97,9 @@ namespace armarx
CppMethodPtr toReadMethod() const;
virtual CppBlockPtr getReadBlock(const std::string&) const = 0;
+ CppMethodPtr toEqualsMethod() const;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const = 0;
+
virtual AronAbstractTypePtr getResult() const override = 0;
// static methods
diff --git a/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.cpp
index 00e521c7bc5fa99f6c1b5c9f010b95fb8258d20a..8f639bc89050bce54ee068bb5d9d5b8907cae431 100644
--- a/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.cpp
@@ -127,6 +127,14 @@ namespace armarx
b->addBlock(b2);
return b;
}
+
+ CppBlockPtr AronDictTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.h
index b92bf96ce844510e6109388aea9deedc4893a66b..e115f0f80ad73c773231bbb8c6bd562a7585c1f8 100644
--- a/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronDictTypeNavigator.h
@@ -62,6 +62,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.cpp
index 3d7b1091b75b22d8b87faf7eb62bc7f15d4c08d1..34e76e4829052642ec3520316a041258e8871d2a 100644
--- a/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.cpp
@@ -130,10 +130,15 @@ namespace armarx
CppBlockPtr AronEigenMatrixTypeNavigator::getReadBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- //
b->addLine(accessor + " = " + getFullCppTypename() + "(reinterpret_cast<" + usedType + "*>(r.readBlob())); // Eigen already performs memcpy");
return b;
}
+
+ CppBlockPtr AronEigenMatrixTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.h
index a5bd0012ef83374b4f7b5a51a17140c5f19a2cc7..a3c5ecc6317df01bf2557e65f7e927eded574b99 100644
--- a/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronEigenMatrixTypeNavigator.h
@@ -60,6 +60,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.cpp
index abb4fde18ba1ed4f869c5750632ad1c97f2ae54d..0b20a776b027fcd225e7025c54c5fc6427928dab 100644
--- a/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.cpp
@@ -83,6 +83,14 @@ namespace armarx
b->addLine(accessor + ".read(w);");
return b;
}
+
+ CppBlockPtr AronExternalTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.h
index c6c6c381761be93e1edc4ffb99b6a2490b727009..6afc460906002a11b4a71cb1137006eafd27c5c6 100644
--- a/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronExternalTypeNavigator.h
@@ -59,6 +59,8 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.cpp
index 4487ce55ccda3e875364b986ac210c2c822dd36f..29ae4047fa2aed9318238183a251826cd3555862 100644
--- a/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.cpp
@@ -34,17 +34,17 @@ namespace armarx
namespace types
{
- const std::set<std::string> AronIVTCByteImageTypeNavigator::acceptedTypes =
+ const std::map<std::string, unsigned int> AronIVTCByteImageTypeNavigator::acceptedTypes =
{
- {"CByteImage::ImageType::eGrayScale"},
- {"CByteImage::ImageType::eRGB24"},
- {"CByteImage::ImageType::eRGB24Split"}
+ {"CByteImage::ImageType::eGrayScale", 1},
+ {"CByteImage::ImageType::eRGB24", 3},
+ {"CByteImage::ImageType::eRGB24Split", 3}
};
// constructors
AronIVTCByteImageTypeNavigator::AronIVTCByteImageTypeNavigator(const unsigned int w, const unsigned int h, const std::string& t, const AronNavigatorPath& path) :
AronNavigator<AronTypeDescriptor, AronAbstractType>::AronNavigator(AronTypeDescriptor::eAronIVTCByteImageType),
- AronAbstractTypeNavigator(AronTypeDescriptor::eAronIVTCByteImageType, "CByteImage", boost::core::demangle(typeid(AronBlob).name()), boost::core::demangle(typeid(AronIVTCByteImageType).name())),
+ AronAbstractTypeNavigator(AronTypeDescriptor::eAronIVTCByteImageType, "std::shared_ptr<CByteImage>", boost::core::demangle(typeid(AronBlob).name()), boost::core::demangle(typeid(AronIVTCByteImageType).name())),
width(w),
height(h),
type(new AronIVTCByteImageType())
@@ -53,20 +53,15 @@ namespace armarx
type->height = h;
type->typeName = t;
- bool found = false;
- for (const auto& typeName : acceptedTypes)
+ auto i = acceptedTypes.find(t);
+ if (acceptedTypes.find(t) == acceptedTypes.end())
{
- if (typeName == t)
- {
- this->usedType = typeName;
- found = true;
- break;
- }
+ throw LocalException("AronIVTCByteImageTypeNavigator: Could not find the typename '" + t + "' in accepted types.");
}
-
- if (!found)
+ else
{
- throw LocalException("AronIVTCByteImageTypeNavigator: Could not find the typename '" + t + "' in accepted types.");
+ this->usedType = i->first;
+ this->elementSize = i->second;
}
}
@@ -87,7 +82,7 @@ namespace armarx
CppBlockPtr AronIVTCByteImageTypeNavigator::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
+ b->addLine(accessor + " = " + getFullCppTypename() + "(new CByteImage(" + std::to_string(this->width) + ", " + std::to_string(this->height) + ", " + this->usedType + "));");
return b;
}
@@ -101,7 +96,7 @@ namespace armarx
CppBlockPtr AronIVTCByteImageTypeNavigator::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeBlob(reinterpret_cast<unsigned char*>(" + accessor + ".pixels));");
+ b->addLine("w.writeBlob(" + std::to_string(this->width * this->height * this->elementSize) + ", reinterpret_cast<unsigned char*>(" + accessor + "->pixels));");
return b;
}
@@ -109,8 +104,18 @@ namespace armarx
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
//CByteImage(int nImageWidth, int nImageHeight, ImageType imageType, bool bHeaderOnly = false);
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + std::to_string(width) + ", " + std::to_string(height) + ", " + usedType + ", false);");
- b->addLine("memcpy(" + accessor + ".pixels, reinterpret_cast<unsiged char*>(r.readBlob()), " + accessor + ".width * " + accessor + ".height * " + accessor + ".bytesPerPixel);");
+ b->addLine(accessor + " = " + getFullCppTypename() + "(new CByteImage(" + std::to_string(width) + ", " + std::to_string(height) + ", " + usedType + ", false));");
+ b->addLine("memcpy(" + accessor + "->pixels, reinterpret_cast<unsigned char*>(r.readBlob()), " + std::to_string(this->width * this->height * this->elementSize) + ");");
+ return b;
+ }
+
+ CppBlockPtr AronIVTCByteImageTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + "->IsCompatible(" + otherInstanceAccessor + ".get())))");
+ b->addLine("\t return false;");
+ b->addLine("if (not (memcmp(" + accessor + "->pixels, " + otherInstanceAccessor + "->pixels, " + std::to_string(this->width * this->height * this->elementSize) + ") == 0))");
+ b->addLine("\t return false;");
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.h
index a3c69efe4becbe58d489e5114d22192842cab2b5..6202d71e39ce145ff98e28d9c027c67668071344 100644
--- a/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronIVTCByteImageTypeNavigator.h
@@ -60,13 +60,15 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
- static const std::set<std::string> acceptedTypes;
+ static const std::map<std::string, unsigned int> acceptedTypes;
std::string usedType;
unsigned int width;
unsigned int height;
+ unsigned int elementSize;
AronIVTCByteImageTypePtr type;
};
}
diff --git a/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.cpp
index e3cc04075ee91dcc184ee93c88756877144fdb70..618d69aca7b3846d77e8fec8dc314b00990a01cf 100644
--- a/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.cpp
@@ -119,6 +119,14 @@ namespace armarx
b->addBlock(b2);
return b;
}
+
+ CppBlockPtr AronListTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.h
index 04e39056c4c61be8b4d49b7c9ae56e1036cf2f10..4eb09c4cd55b544a87870de886a453b8e6422700 100644
--- a/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronListTypeNavigator.h
@@ -60,6 +60,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.cpp
index d28e5503c9083846e879c772b42269d8dd25a21e..942ee2b63be8c82686588098c1b2e3b6dce8f488 100644
--- a/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.cpp
@@ -145,6 +145,25 @@ namespace armarx
b->addLine("r.readEndDict();");
return b;
}
+
+ CppBlockPtr AronObjectTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ if (accessor == "") // object defintiion
+ {
+ for (const auto& [key, child] : this->getChildren())
+ {
+ CppBlockPtr b2 = child->getEqualsBlock(key, otherInstanceAccessor + "." + key);
+ b = CppBlock::mergeBlocks(b, b2);
+ }
+ }
+ else // object usage with existing operator==
+ {
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ }
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.h
index c9ac78785dd0c7b555a2ad0ad5bf4da2565efda8..1a65dcf28217825ce82689e6f715d82671282156 100644
--- a/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronObjectTypeNavigator.h
@@ -66,6 +66,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.cpp
index ffe078bd6b28f201f9b2743e3e5c3f97e6d057db..9d21a938e7073d21364fa598de46adccc6a590d5 100644
--- a/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.cpp
@@ -111,6 +111,12 @@ namespace armarx
//b->addLine(accessor + " = " + getFullCppTypename() + "({" + implodeDimensionVector(dimensions) + "}, " + usedType + ", reinterpret_cast<unsigned char*>(r.readBlob()), 0);");
return b;
}
+
+ CppBlockPtr AronOpenCVMatTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.h
index caeeeba4297b4fd6edca9fd53b5deef4c72825e0..ca5c232a764cd1052433ecb42bb7ed44ed0aff20 100644
--- a/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronOpenCVMatTypeNavigator.h
@@ -60,6 +60,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.cpp
index 177e580c03e7aee2bc7507782a6e6add68aa95f1..406791501c3a880ee21aa40af9addd6b9a068583 100644
--- a/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.cpp
@@ -112,6 +112,12 @@ namespace armarx
b->addLine("memcpy(" + accessor + ".points.data(), reinterpret_cast<" + usedType + "*>(r.readBlob()), " + accessor + ".width * " + accessor + ".height);");
return b;
}
+
+ CppBlockPtr AronPCLPointcloudTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.h
index 8737f4745afa33e18378ba7052b0458cbaf28f16..d9c7fbdfff29a8805dc3434d16d66a72c5f10920 100644
--- a/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronPCLPointcloudTypeNavigator.h
@@ -60,6 +60,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/types/AronPrimitiveTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronPrimitiveTypeNavigator.h
index 495474a20b59b2eb77cf0690f842a91c09a31c60..40fff2417fffd715d3d5cb0dc689e5748d601c24 100644
--- a/source/RobotAPI/libraries/aron/types/AronPrimitiveTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronPrimitiveTypeNavigator.h
@@ -103,6 +103,14 @@ namespace armarx
return b;
}
+ CppBlockPtr getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const override
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
+
private:
// members
typename AronAbstractTypeType::PointerType type;
diff --git a/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.cpp b/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.cpp
index 3324161bbf02684bdf1a5b1f007fb53257b78882..5729a019ca94bcadcac33c6b6aa0b89154c861ff 100644
--- a/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.cpp
@@ -161,6 +161,14 @@ namespace armarx
b->addLine("r.readEndList();");
return b;
}
+
+ CppBlockPtr AronTupleTypeNavigator::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
+ b->addLine("\t return false;");
+ return b;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.h b/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.h
index 32808ba09b9ceebb101aad13f3134430e1375b57..9e1ce2919a35cf9efb469e452c3a282b544ded15 100644
--- a/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.h
+++ b/source/RobotAPI/libraries/aron/types/AronTupleTypeNavigator.h
@@ -65,6 +65,7 @@ namespace armarx
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private: