NlohmannJSONWriter.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 (fabian dot peller at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
// Header
#include "NlohmannJSONWriter.h"
 
// Constantes
#include <RobotAPI/libraries/aron/core/type/visitor/nlohmannJSON/NlohmannJSONVisitor.h>
 
#include "../../json/Data.h"
 
namespace armarx::aron::type::writer
{
    namespace
    {
        /// Set important members for json object (aron meta information)
        void
        setupAronMetaInformationForType(nlohmann::json& json,
                                        const std::string& type,
                                        const type::Maybe& maybe,
                                        const Path& p)
        {
            json[rw::json::constantes::TYPE_SLUG] = type;
            json[rw::json::constantes::PATH_SLUG] = p.getPath();
            json[rw::json::constantes::MAYBE_SLUG] = rw::json::conversion::Maybe2String.at(maybe);
        }
    } // namespace
 
    type::Descriptor
    NlohmannJSONWriter::getDescriptor(ReturnTypeConst& input)
    {
        return ConstNlohmannJSONVisitor::GetDescriptor(input);
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeObject(const std::string& name,
                                    const std::vector<std::string>& templates,
                                    const std::vector<std::string>& templateInstantiations,
                                    const std::map<std::string, nlohmann::json>& memberTypes,
                                    const std::optional<nlohmann::json>& extends,
                                    const type::Maybe maybe,
                                    const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::OBJECT_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::NAME_SLUG] = name;
        if (extends.has_value())
        {
            o[rw::json::constantes::EXTENDS_SLUG] = *extends;
        }
        if (!templates.empty())
        {
            o[rw::json::constantes::TEMPLATES_SLUG] = templates;
        }
        if (!templateInstantiations.empty())
        {
            o[rw::json::constantes::TEMPLATE_INSTANTIATIONS_SLUG] = templateInstantiations;
        }
 
        o[rw::json::constantes::MEMBERS_SLUG] = nlohmann::json(nlohmann::json::value_t::object);
        for (const auto& [key, value] : memberTypes)
        {
            o[rw::json::constantes::MEMBERS_SLUG][key] = value;
        }
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeList(const nlohmann::json& acceptedType,
                                  const type::Maybe maybe,
                                  const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::LIST_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::ACCEPTED_TYPE_SLUG] = acceptedType;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeDict(const nlohmann::json& acceptedType,
                                  const type::Maybe maybe,
                                  const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::DICT_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::ACCEPTED_TYPE_SLUG] = acceptedType;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writePair(const nlohmann::json& acceptedType1,
                                  const nlohmann::json& acceptedType2,
                                  const type::Maybe maybe,
                                  const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::PAIR_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::ACCEPTED_TYPE_SLUG] = {acceptedType1, acceptedType2};
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeTuple(const std::vector<nlohmann::json>& acceptedTypes,
                                   const type::Maybe maybe,
                                   const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::TUPLE_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::ACCEPTED_TYPE_SLUG] = acceptedTypes;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeNDArray(const int ndim,
                                     const type::ndarray::ElementType type,
                                     const std::string& defaultValue,
                                     const type::Maybe maybe,
                                     const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::NDARRAY_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::USED_TYPE_SLUG] = rw::json::conversion::NDArrayType2String.at(type);
        o[rw::json::constantes::DIMENSIONS_SLUG] = ndim;
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeMatrix(const int rows,
                                    const int cols,
                                    const type::matrix::ElementType type,
                                    const std::string& defaultValue,
                                    const type::Maybe maybe,
                                    const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::MATRIX_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::USED_TYPE_SLUG] = rw::json::conversion::MatrixType2String.at(type);
        o[rw::json::constantes::DIMENSIONS_SLUG] = {rows, cols};
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeQuaternion(const type::quaternion::ElementType type,
                                        const std::string& defaultValue,
                                        const type::Maybe maybe,
                                        const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(
            o, rw::json::constantes::QUATERNION_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::USED_TYPE_SLUG] =
            rw::json::conversion::QuaternionType2String.at(type);
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeImage(const type::image::PixelType type,
                                   const std::string& defaultValue,
                                   const type::Maybe maybe,
                                   const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::IMAGE_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::USED_TYPE_SLUG] = rw::json::conversion::PixelType2String.at(type);
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writePointCloud(const type::pointcloud::VoxelType type,
                                        const std::string& defaultValue,
                                        const type::Maybe maybe,
                                        const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(
            o, rw::json::constantes::POINT_CLOUD_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::USED_TYPE_SLUG] = rw::json::conversion::VoxelType2String.at(type);
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeIntEnum(const std::string& name,
                                     const std::map<std::string, int>& acceptedValues,
                                     const std::string& defaultValue,
                                     const type::Maybe maybe,
                                     const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::INT_ENUM_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::NAME_SLUG] = name;
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue;
 
        o[rw::json::constantes::ELEMENTS_SLUG] = nlohmann::json(nlohmann::json::value_t::object);
        for (const auto& [key, value] : acceptedValues)
        {
            o[rw::json::constantes::ELEMENTS_SLUG][key] = value;
        }
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeInt(const std::optional<int>& defaultValue,
                                 const type::Maybe maybe,
                                 const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::INT_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] =
            defaultValue.has_value() ? std::to_string(*defaultValue) : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeLong(const std::optional<long>& defaultValue,
                                  const type::Maybe maybe,
                                  const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::LONG_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] =
            defaultValue.has_value() ? std::to_string(*defaultValue) : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeFloat(const std::optional<float>& defaultValue,
                                   const type::Maybe maybe,
                                   const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::FLOAT_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] =
            defaultValue.has_value() ? std::to_string(*defaultValue) : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeDouble(const std::optional<double>& defaultValue,
                                    const type::Maybe maybe,
                                    const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::DOUBLE_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] =
            defaultValue.has_value() ? std::to_string(*defaultValue) : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeString(const std::optional<std::string>& defaultValue,
                                    const type::Maybe maybe,
                                    const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::STRING_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] = defaultValue.has_value() ? *defaultValue : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeBool(const std::optional<bool>& defaultValue,
                                  const type::Maybe maybe,
                                  const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(o, rw::json::constantes::BOOL_TYPENAME_SLUG, maybe, p);
        o[rw::json::constantes::DEFAULT_SLUG] =
            defaultValue.has_value() ? std::to_string(*defaultValue) : "";
        return o;
    }
 
    nlohmann::json
    NlohmannJSONWriter::writeAnyObject(const type::Maybe maybe, const Path& p)
    {
        nlohmann::json o;
        setupAronMetaInformationForType(
            o, rw::json::constantes::ANY_OBJECT_TYPENAME_SLUG, maybe, p);
        return o;
    }
} // namespace armarx::aron::type::writer