JsonSimoxShapeSerializer.cpp

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#include "JsonSimoxShapeSerializer.h"
 
#ifdef MEMORYX_FOUND
 
#include <SimoxUtility/json.h>
#include <VirtualRobot/ManipulationObject.h>
 
#include "SimoxObjectShape.h"
#include <MemoryX/libraries/helpers/VirtualRobotHelpers/ObjectClassSegmentWrapper.h>
#include <SemanticObjectRelations/Shapes.h>
#include <SemanticObjectRelations/Shapes/json.h>
 
namespace armarx::semantic
{
    JsonSimoxShapeSerializer::JsonSimoxShapeSerializer(
        const memoryx::ObjectClassSegmentWrapper* classSegment) :
        classSegment(classSegment)
    {
    }
 
    void
    JsonSimoxShapeSerializer::to_json(nlohmann::json& j, const SimoxObjectShape& object) const
    {
        semrel::json::to_json_base(j, object);
 
        j["class"] = object.objectClassName;
        j["instance"] = object.object->getName();
        j["entityId"] = object.entityId;
    }
 
    void
    JsonSimoxShapeSerializer::from_json(const nlohmann::json& j, SimoxObjectShape& object) const
    {
        const std::string objectClassName = j.at("class").get<std::string>();
 
        VirtualRobot::ManipulationObjectPtr manipulationObject;
        if (classSegment)
        {
            std::optional<memoryx::ObjectClassWrapper> objectClass =
                classSegment->getClass(objectClassName);
            if (objectClass)
            {
                const std::string instance = j.at("instance").get<std::string>();
                manipulationObject = objectClass->manipulationObject->clone(instance);
            }
        }
 
        object = SimoxObjectShape(manipulationObject, objectClassName);
        semrel::json::from_json_base(j, object);
        object.entityId = j.at("entityId");
    }
 
    void
    JsonSimoxShapeSerializer::registerSerializer(
        const std::shared_ptr<JsonSimoxShapeSerializer>& instance,
        bool overwrite)
    {
        semrel::json::ShapeSerializers::registerSerializer<SimoxObjectShape>(
            [instance](nlohmann::json& j, const SimoxObjectShape& object)
            { instance->to_json(j, object); },
            [instance](const nlohmann::json& j, SimoxObjectShape& object)
            { instance->from_json(j, object); },
            overwrite);
    }
 
} // namespace armarx::semantic
 
#endif