VariantReader.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 "VariantReader.h"
 
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
 
namespace armarx::aron::type::reader
{
 
    type::Descriptor
    VariantReader::getDescriptor(InputType& input)
    {
        return ConstVariantVisitor::GetDescriptor(input);
    }
 
    void
    VariantReader::readObject(const aron::type::VariantPtr& input,
                              std::string& name,
                              std::vector<std::string>& templates,
                              std::vector<std::string>& templateInstantiations,
                              std::map<std::string, aron::type::VariantPtr>& memberTypes,
                              type::Maybe& maybe,
                              Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Object::DynamicCastAndCheck(input);
 
        name = o->getObjectName();
        templates = o->getTemplates();
        templateInstantiations = o->getTemplateInstantiations();
        maybe = o->getMaybe();
        memberTypes = o->getMemberTypes();
        p = o->getPath();
    }
 
    void
    VariantReader::readList(const aron::type::VariantPtr& input,
                            aron::type::VariantPtr& acceptedType,
                            type::Maybe& maybe,
                            Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::List::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        acceptedType = o->getAcceptedType();
        p = o->getPath();
    }
 
    void
    VariantReader::readDict(const aron::type::VariantPtr& input,
                            aron::type::VariantPtr& acceptedType,
                            type::Maybe& maybe,
                            Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Dict::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        acceptedType = o->getAcceptedType();
        p = o->getPath();
    }
 
    void
    VariantReader::readTuple(const aron::type::VariantPtr& input,
                             std::vector<aron::type::VariantPtr>& acceptedTypes,
                             type::Maybe& maybe,
                             Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Tuple::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        acceptedTypes = o->getAcceptedTypes();
        p = o->getPath();
    }
 
    void
    VariantReader::readPair(const aron::type::VariantPtr& input,
                            aron::type::VariantPtr& acceptedType1,
                            aron::type::VariantPtr& acceptedType2,
                            type::Maybe& maybe,
                            Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Pair::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        acceptedType1 = o->getAcceptedTypes().first;
        acceptedType2 = o->getAcceptedTypes().second;
        p = o->getPath();
    }
 
    void
    VariantReader::readNDArray(const aron::type::VariantPtr& input,
                               int& ndim,
                               type::ndarray::ElementType& type,
                               std::string& defaultValue,
                               type::Maybe& maybe,
                               Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::NDArray::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        ndim = o->getNumberDimensions();
        type = o->getElementType();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readMatrix(const aron::type::VariantPtr& input,
                              int& rows,
                              int& cols,
                              type::matrix::ElementType& type,
                              std::string& defaultValue,
                              type::Maybe& maybe,
                              Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Matrix::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        rows = o->getRows();
        cols = o->getCols();
        type = o->getElementType();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readQuaternion(const aron::type::VariantPtr& input,
                                  type::quaternion::ElementType& type,
                                  std::string& defaultValue,
                                  type::Maybe& maybe,
                                  Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Quaternion::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        type = o->getElementType();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readPointCloud(const aron::type::VariantPtr& input,
                                  type::pointcloud::VoxelType& type,
                                  std::string& defaultValue,
                                  type::Maybe& maybe,
                                  Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::PointCloud::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        type = o->getVoxelType();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readImage(const aron::type::VariantPtr& input,
                             type::image::PixelType& type,
                             std::string& defaultValue,
                             type::Maybe& maybe,
                             Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Image::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        type = o->getPixelType();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readIntEnum(const aron::type::VariantPtr& input,
                               std::string& name,
                               std::map<std::string, int>& acceptedValues,
                               std::string& defaultValue,
                               type::Maybe& maybe,
                               Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::IntEnum::DynamicCastAndCheck(input);
 
        name = o->getEnumName();
        acceptedValues = o->getAcceptedValueMap();
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValueName();
        p = o->getPath();
    }
 
    void
    VariantReader::readInt(const aron::type::VariantPtr& input,
                           std::optional<int>& defaultValue,
                           type::Maybe& maybe,
                           Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Int::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readLong(const aron::type::VariantPtr& input,
                            std::optional<long>& defaultValue,
                            type::Maybe& maybe,
                            Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Long::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readFloat(const aron::type::VariantPtr& input,
                             std::optional<float>& defaultValue,
                             type::Maybe& maybe,
                             Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Float::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readDouble(const aron::type::VariantPtr& input,
                              std::optional<double>& defaultValue,
                              type::Maybe& maybe,
                              Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Double::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readString(const aron::type::VariantPtr& input,
                              std::optional<std::string>& defaultValue,
                              type::Maybe& maybe,
                              Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::String::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readBool(const aron::type::VariantPtr& input,
                            std::optional<bool>& defaultValue,
                            type::Maybe& maybe,
                            Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::Bool::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        defaultValue = o->getDefaultValue();
        p = o->getPath();
    }
 
    void
    VariantReader::readAnyObject(const aron::type::VariantPtr& input, type::Maybe& maybe, Path& p)
    {
        ARMARX_CHECK_NOT_NULL(input);
        auto o = type::AnyObject::DynamicCastAndCheck(input);
 
        maybe = o->getMaybe();
        p = o->getPath();
    }
} // namespace armarx::aron::type::reader