AronDTOWriter.cpp

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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
 */
 
// Header
#include "AronDTOWriter.h"
 
// STD/STL
#include <cstring>
#include <functional>
#include <numeric>
#include <utility>
 
// ArmarX
#include <ArmarXCore/util/CPPUtility/trace.h>
 
#include <RobotAPI/libraries/aron/core/Exception.h>
 
namespace armarx::aron::data::writer
{
 
    data::Descriptor
    AronDTOWriter::getDescriptor(ReturnTypeConst& input)
    {
        if (not input)
        {
            return data::Descriptor::UNKNOWN;
        }
        return aron::data::Aron2Descriptor(*input);
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeList(const std::vector<data::dto::GenericDataPtr>& elements, const Path&)
    {
        data::dto::ListPtr o = new data::dto::List();
        o->elements = elements;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeDict(const std::map<std::string, data::dto::GenericDataPtr>& elements,
                             const std::optional<data::dto::GenericDataPtr>& extends,
                             const Path&)
    {
        if (extends)
        {
            auto o = DictCastAndCheck(extends.value());
            o->elements.insert(elements.begin(), elements.end());
            return o;
        }
 
        data::dto::DictPtr o = new data::dto::Dict();
        o->elements = elements;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeDict(std::map<std::string, data::dto::GenericDataPtr>&& elements,
                             const std::optional<data::dto::GenericDataPtr>& extends,
                             const Path& p)
    {
        if (extends)
        {
            const auto& constElements = elements;
            return writeDict(constElements, extends, p);
        }
 
        data::dto::DictPtr o = new data::dto::Dict();
        o->elements = std::move(elements);
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeNDArray(const std::vector<int>& shape,
                                const std::string& typeAsString,
                                const unsigned char* data,
                                const Path& p)
    {
        if (typeAsString.empty())
        {
            ARMARX_TRACE;
            throw error::AronException(__PRETTY_FUNCTION__, "The type cannot be empty", p);
        }
 
        data::dto::NDArrayPtr o = new data::dto::NDArray();
        o->shape = shape;
        o->type = typeAsString;
 
        const int size =
            shape.empty()
                ? 0
                : std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<int>());
 
        o->data = std::vector<unsigned char>(static_cast<unsigned int>(size));
        if (size > 0)
        {
            std::memcpy(o->data.data(), data, static_cast<unsigned int>(size));
        }
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeInt(const int i, const Path&)
    {
        data::dto::AronIntPtr o = new data::dto::AronInt();
        o->value = i;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeLong(const long i, const Path&)
    {
        data::dto::AronLongPtr o = new data::dto::AronLong();
        o->value = i;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeFloat(const float i, const Path&)
    {
        data::dto::AronFloatPtr o = new data::dto::AronFloat();
        o->value = i;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeDouble(const double i, const Path&)
    {
        data::dto::AronDoublePtr o = new data::dto::AronDouble();
        o->value = i;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeString(const std::string& i, const Path&)
    {
        data::dto::AronStringPtr o = new data::dto::AronString();
        o->value = i;
        return o;
    }
 
    data::dto::GenericDataPtr
    AronDTOWriter::writeBool(const bool i, const Path&)
    {
        data::dto::AronBoolPtr o = new data::dto::AronBool();
        o->value = i;
        return o;
    }
 
    data::dto::DictPtr
    AronDTOWriter::DictCastAndCheck(const data::dto::GenericDataPtr& data)
    {
        auto o = data::dto::DictPtr::dynamicCast(data);
        if (not o)
        {
            ARMARX_TRACE;
            throw error::AronException(__PRETTY_FUNCTION__,
                                       "Expected an aron dict but got something else.");
        }
        return o;
    }
 
    data::dto::AronIntPtr
    AronDTOWriter::IntCastAndCheck(const data::dto::GenericDataPtr& data)
    {
        auto o = data::dto::AronIntPtr::dynamicCast(data);
        if (not o)
        {
            ARMARX_TRACE;
            throw error::AronException(__PRETTY_FUNCTION__,
                                       "Expected an aron int but got something else.");
        }
        return o;
    }
} // namespace armarx::aron::data::writer