AronDTOWriter.h

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/*
 * 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
 */
 
#pragma once
 
// STD/STL
#include <map>
#include <optional>
#include <string>
#include <vector>
 
// ArmarX
#include <RobotAPI/libraries/aron/core/data/rw/Writer.h>
 
namespace armarx::aron::data::writer
{
    /**
     * @brief Writes the ice representation (data::dto::*) directly.
     *
     * VariantWriter builds a full navigator graph -- a Variant object, its Path and its
     * children container per node -- and populates the ice objects alongside it. Code that
     * only wants the ice representation, which is everything that sends data to a memory
     * server, pays for that graph and then throws it away.
     *
     * This writer emits the ice objects and nothing else. It is the writer behind
     * AronGeneratedObject::toAronDTO().
     *
     * The Path arguments are accepted to satisfy the writer interface and are ignored:
     * paths exist for navigation and error reporting on the variant representation, and
     * the ice objects carry no path.
     */
    class AronDTOWriter : public WriterInterface<data::dto::GenericDataPtr>
    {
    public:
        AronDTOWriter() = default;
 
        data::Descriptor getDescriptor(ReturnTypeConst& input) final;
 
        data::dto::GenericDataPtr writeList(const std::vector<data::dto::GenericDataPtr>& elements,
                                            const Path& p = Path()) override;
 
        data::dto::GenericDataPtr
        writeDict(const std::map<std::string, data::dto::GenericDataPtr>& elements,
                  const std::optional<data::dto::GenericDataPtr>& extends = std::nullopt,
                  const Path& p = Path()) override;
 
        /// Takes ownership of `elements` instead of copying it into the dict.
        data::dto::GenericDataPtr
        writeDict(std::map<std::string, data::dto::GenericDataPtr>&& elements,
                  const std::optional<data::dto::GenericDataPtr>& extends,
                  const Path& p) override;
 
        data::dto::GenericDataPtr writeNDArray(const std::vector<int>& shape,
                                               const std::string& typeAsString,
                                               const unsigned char* data,
                                               const Path& p = Path()) override;
 
        data::dto::GenericDataPtr writeInt(const int i, const Path& p = Path()) override;
        data::dto::GenericDataPtr writeLong(const long i, const Path& p = Path()) override;
        data::dto::GenericDataPtr writeFloat(const float i, const Path& p = Path()) override;
        data::dto::GenericDataPtr writeDouble(const double i, const Path& p = Path()) override;
        data::dto::GenericDataPtr writeString(const std::string& i,
                                              const Path& p = Path()) override;
        data::dto::GenericDataPtr writeBool(const bool i, const Path& p = Path()) override;
 
        using WriterInterface<data::dto::GenericDataPtr>::writeDict;
 
        /// Narrow the generic result of write() to a dict, throwing if it is not one.
        ///
        /// The variant representation offers this as Dict::DynamicCastAndCheck; the ice
        /// classes have no such helper, and generated code needs one to type its
        /// toAronDTO() return value.
        static data::dto::DictPtr DictCastAndCheck(const data::dto::GenericDataPtr& data);
 
        /// As DictCastAndCheck(), for generated int enums.
        static data::dto::AronIntPtr IntCastAndCheck(const data::dto::GenericDataPtr& data);
    };
} // namespace armarx::aron::data::writer