Factory.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/>.
 *
 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
// STD/STL
 
// Header
#include "Factory.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
// ArmarX
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
 
namespace armarx::aron::data
{
 
    // Access method
    std::unique_ptr<data::Variant>
    VariantFactory::create(const data::dto::GenericDataPtr& aron, const Path& path) const
    {
        // if aron is null ==> e.g. optional or ptr not set
        if (!aron)
        {
            return nullptr;
        };
 
        // compare versions
        auto v = aron->VERSION;
        auto v_str =
            std::to_string(v.MAJOR) + "." + std::to_string(v.MINOR) + "." + std::to_string(v.PATCH);
 
        auto d = aron::Version();
        auto d_str =
            std::to_string(d.MAJOR) + "." + std::to_string(d.MINOR) + "." + std::to_string(d.PATCH);
 
        if (v != d)
        {
            ARMARX_WARNING
                << "Found inconsistencies in aron versions. This may lead to ice marshalling "
                   "exceptions. Please make sure to update the sender and receiver packages. "
                << v_str << " != " << d_str;
        }
 
        auto descriptor = data::Aron2Descriptor(*aron);
        switch (descriptor)
        {
            case data::Descriptor::LIST:
                return std::make_unique<data::List>(data::dto::ListPtr::dynamicCast(aron), path);
            case data::Descriptor::DICT:
                return std::make_unique<data::Dict>(data::dto::DictPtr::dynamicCast(aron), path);
            case data::Descriptor::NDARRAY:
                return std::make_unique<data::NDArray>(data::dto::NDArrayPtr::dynamicCast(aron),
                                                       path);
            case data::Descriptor::INT:
                return std::make_unique<data::Int>(data::dto::AronIntPtr::dynamicCast(aron), path);
            case data::Descriptor::LONG:
                return std::make_unique<data::Long>(data::dto::AronLongPtr::dynamicCast(aron),
                                                    path);
            case data::Descriptor::FLOAT:
                return std::make_unique<data::Float>(data::dto::AronFloatPtr::dynamicCast(aron),
                                                     path);
            case data::Descriptor::DOUBLE:
                return std::make_unique<data::Double>(data::dto::AronDoublePtr::dynamicCast(aron),
                                                      path);
            case data::Descriptor::STRING:
                return std::make_unique<data::String>(data::dto::AronStringPtr::dynamicCast(aron),
                                                      path);
            case data::Descriptor::BOOL:
                return std::make_unique<data::Bool>(data::dto::AronBoolPtr::dynamicCast(aron),
                                                    path);
            case data::Descriptor::UNKNOWN:
                break;
        }
        throw error::ValueNotValidException(
            __PRETTY_FUNCTION__, "", std::to_string((int)descriptor), path);
    }
} // namespace armarx::aron::data