VariantWriter.cpp

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/*
* This file is part of ArmarX.
*
* 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/>.
*
* @author     Fabian Peller (fabian dot peller at kit dot edu)
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
// STD/STL
#include <memory>
#include <numeric>
 
// Header
#include "VariantWriter.h"
 
// ArmarX
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
 
namespace armarx::aron::data::writer
{
 
    data::Descriptor
    VariantWriter::getDescriptor(ReturnTypeConst& input)
    {
        return ConstVariantVisitor::GetDescriptor(input);
    }
 
    void
    VariantWriter::writeImportance(ReturnType& output,
                                   const std::optional<float>& importance)
    {
        ARMARX_CHECK_NOT_NULL(output);
        output->setImportance(importance);
    }
 
    data::VariantPtr
    VariantWriter::writeList(const std::vector<data::VariantPtr>& elements, const Path& p)
    {
        auto o = std::make_shared<data::List>(p);
        for (const auto& el : elements)
        {
            o->addElement(el);
        }
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeDict(const std::map<std::string, data::VariantPtr>& elements,
                             const std::optional<data::VariantPtr>& extends,
                             const Path& p)
    {
        auto o = extends ? data::Dict::DynamicCastAndCheck(extends.value())
                         : std::make_shared<data::Dict>(p);
 
        for (const auto& [key, value] : elements)
        {
            o->addElement(key, value);
        }
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeNDArray(const std::vector<int>& shape,
                                const std::string& typeAsString,
                                const unsigned char* data,
                                const Path& p)
    {
        auto o = std::make_shared<data::NDArray>(p);
        o->setShape(shape);
        o->setType(typeAsString);
        int size =
            shape.empty()
                ? 0
                : std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<int>());
        o->setData(static_cast<unsigned int>(size), data);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeInt(const int i, const Path& p)
    {
        auto o = std::make_shared<data::Int>(p);
        o->setValue(i);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeLong(const long i, const Path& p)
    {
        auto o = std::make_shared<data::Long>(p);
        o->setValue(i);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeFloat(const float i, const Path& p)
    {
        auto o = std::make_shared<data::Float>(p);
        o->setValue(i);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeDouble(const double i, const Path& p)
    {
        auto o = std::make_shared<data::Double>(p);
        o->setValue(i);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeString(const std::string& i, const Path& p)
    {
        auto o = std::make_shared<data::String>(p);
        o->setValue(i);
        return o;
    }
 
    data::VariantPtr
    VariantWriter::writeBool(const bool i, const Path& p)
    {
        auto o = std::make_shared<data::Bool>(p);
        o->setValue(i);
        return o;
    }
} // namespace armarx::aron::data::writer