aron_conversions.cpp

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#include "aron_conversions.h"
 
#include <ArmarXCore/core/exceptions/local/UnexpectedEnumValueException.h>
 
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
 
namespace armarx
{
    aron::data::VariantPtr
    RobotUnitDataStreaming::toAron(const TimeStep& timestep, const DataEntry& dataEntry)
    {
        switch (dataEntry.type)
        {
            case RobotUnitDataStreaming::NodeTypeFloat:
            {
                float value =
                    RobotUnitDataStreamingReceiver::GetAs<Ice::Float>(timestep, dataEntry);
                return std::make_shared<aron::data::Float>(value);
            }
            case RobotUnitDataStreaming::NodeTypeBool:
            {
                bool value = RobotUnitDataStreamingReceiver::GetAs<bool>(timestep, dataEntry);
                return std::make_shared<aron::data::Bool>(value);
            }
            case RobotUnitDataStreaming::NodeTypeByte:
            {
                int value = RobotUnitDataStreamingReceiver::GetAs<Ice::Byte>(timestep, dataEntry);
                return std::make_shared<aron::data::Int>(value);
            }
            case RobotUnitDataStreaming::NodeTypeShort:
            {
                int value = RobotUnitDataStreamingReceiver::GetAs<Ice::Short>(timestep, dataEntry);
                return std::make_shared<aron::data::Int>(value);
            }
            case RobotUnitDataStreaming::NodeTypeInt:
            {
                int value = RobotUnitDataStreamingReceiver::GetAs<Ice::Int>(timestep, dataEntry);
                return std::make_shared<aron::data::Int>(value);
            }
            case RobotUnitDataStreaming::NodeTypeLong:
            {
                long value = RobotUnitDataStreamingReceiver::GetAs<Ice::Long>(timestep, dataEntry);
                return std::make_shared<aron::data::Long>(value);
            }
            case RobotUnitDataStreaming::NodeTypeDouble:
            {
                double value =
                    RobotUnitDataStreamingReceiver::GetAs<Ice::Double>(timestep, dataEntry);
                return std::make_shared<aron::data::Double>(value);
            }
            default:
                ARMARX_UNEXPECTED_ENUM_VALUE(RobotUnitDataStreaming::NodeType, dataEntry.type);
        }
    }
 
    const simox::meta::EnumNames<RobotUnitDataStreaming::DataEntryType>
        RobotUnitDataStreaming::DataEntryNames = {
            {NodeTypeBool, "Bool"},
            {NodeTypeByte, "Byte"},
            {NodeTypeShort, "Short"},
            {NodeTypeInt, "Int"},
            {NodeTypeLong, "Long"},
            {NodeTypeFloat, "Float"},
            {NodeTypeDouble, "Double"},
    };
 
} // namespace armarx