NlohmannJSONWriter.h

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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
*/
 
#pragma once
 
// STD / STL
#include <memory>
#include <sstream>
#include <stack>
 
// Simox
#include <SimoxUtility/json.h>
 
// Base Class
#include <RobotAPI/libraries/aron/core/type/rw/Writer.h>
 
namespace armarx::aron::type::writer
{
    class NlohmannJSONWriter : public WriterInterface<nlohmann::json>
    {
    public:
        NlohmannJSONWriter() = default;
 
        type::Descriptor getDescriptor(ReturnTypeConst& input) final;
 
        ReturnType writeObject(const std::string& name,
                               const std::vector<std::string>& templates,
                               const std::vector<std::string>& templateInstantiations,
                               const std::map<std::string, ReturnType>& memberTypes,
                               const std::optional<ReturnType>& extends,
                               const type::Maybe maybe,
                               const Path& p = Path()) override;
        ReturnType writeList(const ReturnType& acceptedType,
                             const type::Maybe maybe,
                             const Path& p = Path()) override;
        ReturnType writeDict(const ReturnType& acceptedType,
                             const type::Maybe maybe,
                             const Path& p = Path()) override;
        ReturnType writePair(const ReturnType& acceptedType1,
                             const ReturnType& acceptedType2,
                             const type::Maybe maybe,
                             const Path& p = Path()) override;
        ReturnType writeTuple(const std::vector<ReturnType>& acceptedTypes,
                              const type::Maybe maybe,
                              const Path& p = Path()) override;
 
        ReturnType writeNDArray(const int ndim,
                                const type::ndarray::ElementType,
                                const std::string& defaultValue,
                                const type::Maybe maybe,
                                const Path& p = Path()) override;
        ReturnType writeMatrix(const int rows,
                               const int cols,
                               const type::matrix::ElementType type,
                               const std::string& defaultValue,
                               const type::Maybe maybe,
                               const Path& p = Path()) override;
        ReturnType writeQuaternion(const type::quaternion::ElementType,
                                   const std::string& defaultValue,
                                   const type::Maybe maybe,
                                   const Path& p = Path()) override;
        ReturnType writeImage(const type::image::PixelType,
                              const std::string& defaultValue,
                              const type::Maybe maybe,
                              const Path& p = Path()) override;
        ReturnType writePointCloud(const type::pointcloud::VoxelType,
                                   const std::string& defaultValue,
                                   const type::Maybe maybe,
                                   const Path& p = Path()) override;
 
        ReturnType writeIntEnum(const std::string& name,
                                const std::map<std::string, int>& acceptedValues,
                                const std::string& defaultValue,
                                const type::Maybe maybe,
                                const Path& p = Path()) override;
 
        ReturnType writeInt(const std::optional<int>& defaultValue,
                            const type::Maybe maybe,
                            const Path& p = Path()) override;
        ReturnType writeLong(const std::optional<long>& defaultValue,
                             const type::Maybe maybe,
                             const Path& p = Path()) override;
        ReturnType writeFloat(const std::optional<float>& defaultValue,
                              const type::Maybe maybe,
                              const Path& p = Path()) override;
        ReturnType writeDouble(const std::optional<double>& defaultValue,
                               const type::Maybe maybe,
                               const Path& p = Path()) override;
        ReturnType writeString(const std::optional<std::string>& defaultValue,
                               const type::Maybe maybe,
                               const Path& p = Path()) override;
        ReturnType writeBool(const std::optional<bool>& defaultValue,
                             const type::Maybe maybe,
                             const Path& p = Path()) override;
 
        ReturnType writeAnyObject(const type::Maybe maybe, const Path& p = Path()) override;
    };
} // namespace armarx::aron::type::writer