Merge branch 'aron-types' into 'master'

Add common ARON types

See merge request ArmarX/RobotAPI!231

source/RobotAPI/libraries/aron/common/CMakeLists.txt

@@ -13,19 +13,29 @@ armarx_add_library(
 
     HEADERS
         aron_conversions.h
+        forward_declarations.h
+        json_conversions.h
+
         aron_conversions/core.h
         aron_conversions/armarx.h
         aron_conversions/simox.h
         aron_conversions/stl.h
         aron_conversions/eigen.h
+
+        json_conversions/armarx.h
+
         util/object_finders.h
 
     SOURCES
+
         aron_conversions/core.cpp
         aron_conversions/armarx.cpp
         aron_conversions/simox.cpp
         aron_conversions/stl.cpp
         aron_conversions/eigen.cpp
+
+        json_conversions/armarx.cpp
+
         util/object_finders.cpp
 )
 
@@ -34,13 +44,15 @@ armarx_enable_aron_file_generation_for_target(
     TARGET_NAME
         "${LIB_NAME}"
     ARON_FILES
-        aron/trajectory.xml
-        aron/color.xml
-        aron/PackagePath.xml
         aron/AxisAlignedBoundingBox.xml
+        aron/color.xml
+        aron/Color.xml
+        aron/framed.xml
+        aron/Names.xml
         aron/OrientedBox.xml
+        aron/PackagePath.xml
         aron/time.xml
-        aron/framed.xml
+        aron/trajectory.xml
 )
 
 add_library(aron::common ALIAS aroncommon)

source/RobotAPI/libraries/aron/common/aron/Color.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+  <GenerateTypes>
+
+    <Object name='simox::arondto::Color'>
+        <ObjectChild key='r'>
+          <int />
+        </ObjectChild>
+
+        <ObjectChild key='g'>
+          <int />
+        </ObjectChild>
+
+        <ObjectChild key='b'>
+          <int />
+        </ObjectChild>
+
+        <ObjectChild key='a'>
+          <int />
+        </ObjectChild>
+    </Object>
+
+  </GenerateTypes>
+
+</AronTypeDefinition>

source/RobotAPI/libraries/aron/common/aron/Names.xml

+<!--
+Recognized and spoken names of a named entity.
+-->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <GenerateTypes>
+
+        <Object name="armarx::arondto::Names">
+
+            <ObjectChild key="recognized">
+                <List>
+                    <String/>
+                </List>
+            </ObjectChild>
+
+            <ObjectChild key="spoken">
+                <List>
+                    <String/>
+                </List>
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp

 #include "simox.h"
 
+#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/Color.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
 
 
 void simox::fromAron(const arondto::AxisAlignedBoundingBox& dto, AxisAlignedBoundingBox& bo)
@@ -15,7 +18,6 @@ void simox::toAron(arondto::AxisAlignedBoundingBox& dto, const AxisAlignedBoundi
 }
 
 
-
 void simox::fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo)
 {
     bo = OrientedBoxf(dto.center, dto.orientation, dto.extents);
@@ -28,3 +30,19 @@ void simox::toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo)
     dto.extents = bo.dimensions();
 }
 
+
+void simox::fromAron(const arondto::Color& dto, Color& bo)
+{
+    bo.r = dto.r;
+    bo.g = dto.g;
+    bo.b = dto.b;
+    bo.a = dto.a;
+}
+
+void simox::toAron(arondto::Color& dto, const Color& bo)
+{
+    dto.r = bo.r;
+    dto.g = bo.g;
+    dto.b = bo.b;
+    dto.a = bo.a;
+}

source/RobotAPI/libraries/aron/common/aron_conversions/simox.h

 #pragma once
 
+#include <SimoxUtility/color/Color.h>
 #include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
-
 #include <SimoxUtility/shapes/OrientedBox.h>
-#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
+
+#include <RobotAPI/libraries/aron/common/forward_declarations.h>
 
 
 namespace simox
@@ -14,5 +14,8 @@ namespace simox
 
     void fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo);
     void toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo);
+
+    void fromAron(const arondto::Color& dto, Color& bo);
+    void toAron(arondto::Color& dto, const Color& bo);
 }
 

source/RobotAPI/libraries/aron/common/forward_declarations.h

+#pragma once
+
+
+namespace simox::arondto
+{
+    class AxisAlignedBoundingBox;
+    class Color;
+    class OrientedBox;
+}
+namespace armarx::arondto
+{
+    class Names;
+}

source/RobotAPI/libraries/aron/common/json_conversions.h

+#pragma once
+
+#include "json_conversions/armarx.h"

source/RobotAPI/libraries/aron/common/json_conversions/armarx.cpp

+#include "armarx.h"
+
+#include <RobotAPI/libraries/aron/common/aron/Names.aron.generated.h>
+
+
+void armarx::arondto::to_json(nlohmann::json& j, const Names& bo)
+{
+    j["recognized"] = bo.recognized;
+    j["spoken"] = bo.spoken;
+}
+
+void armarx::arondto::from_json(const nlohmann::json& j, Names& bo)
+{
+    j.at("recognized").get_to(bo.recognized);
+    j.at("spoken").get_to(bo.spoken);
+}

source/RobotAPI/libraries/aron/common/json_conversions/armarx.h

+#pragma once
+
+#include <SimoxUtility/json/json.h>
+
+#include <RobotAPI/libraries/aron/common/forward_declarations.h>
+
+
+namespace armarx::arondto
+{
+
+    void to_json(nlohmann::json& j, const Names& bo);
+    void from_json(const nlohmann::json& j, Names& bo);
+
+}