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2025-09-24 10:53:28 +08:00
commit f8e4df77fb
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#ifndef __UT_JSON_HPP__
#define __UT_JSON_HPP__
#include <unitree/common/any.hpp>
namespace unitree
{
namespace common
{
typedef std::map<std::string,Any> JsonMap;
typedef std::vector<Any> JsonArray;
Any FromJsonString(const std::string& s);
std::string ToJsonString(const Any& a, bool pretty = false);
static inline bool IsNull(const Any& a)
{
return a.Empty();
}
static inline bool IsJsonArray(const Any& a)
{
return a.GetTypeInfo() == typeid(JsonArray);
}
static inline bool IsJsonMap(const Any& a)
{
return a.GetTypeInfo() == typeid(JsonMap);
}
static inline bool IsJsonObject(const Any& a)
{
return IsJsonMap(a);
}
}
}
#endif//__UT_JSON_HPP__

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#ifndef __UT_JSON_CONFIG_HPP__
#define __UT_JSON_CONFIG_HPP__
#include <unitree/common/json/json.hpp>
#define UT_JSON_CONF_KEY_PARAMETER "Parameter"
namespace unitree
{
namespace common
{
class JsonConfig
{
public:
JsonConfig();
virtual ~JsonConfig();
JsonConfig(const std::string& configFileName);
virtual void Parse(const std::string& configFileName);
virtual void ParseContent(const std::string& content);
//top-level field
bool Has(const std::string& name) const;
//top-level field
const Any& Get(const std::string& name) const;
//top-level field
template<typename T>
const T& Get(const std::string& name) const
{
return AnyCast<T>(Get(name));
}
//top-level field
template<typename T>
T GetNumber(const std::string& name) const
{
return AnyNumberCast<T>(Get(name));
}
//top-level field
template<typename T>
T Get(const std::string& name, const T& defValue) const
{
const Any& a = Get(name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyCast<T>(a);
}
}
//top-level field
template<typename T>
T GetNumber(const std::string& name, const T& defValue) const
{
const Any& a = Get(name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyNumberCast<T>(a);
}
}
//JsonMap field
bool Has(const JsonMap& jsonMap, const std::string& name) const;
//JsonMap field
const Any& Get(const JsonMap& jsonMap, const std::string& name) const;
//JsonMap field
template<typename T>
const T& Get(const JsonMap& jsonMap, const std::string& name) const
{
return AnyCast<T>(Get(jsonMap, name));
}
//JsonMap field
template<typename T>
T GetNumber(const JsonMap& jsonMap, const std::string& name) const
{
return AnyNumberCast<T>(Get(jsonMap, name));
}
//JsonMap field
template<typename T>
T Get(const JsonMap& jsonMap, const std::string& name, const T& defValue) const
{
const Any& a = Get(jsonMap, name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyCast<T>(a);
}
}
//JsonMap field
template<typename T>
T GetNumber(const JsonMap& jsonMap, const std::string& name, const T& defValue) const
{
const Any& a = Get(jsonMap, name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyNumberCast<T>(a);
}
}
//top-level field
const Any& GetGlobalParameter(const std::string& name) const;
//top-level field: Parameter
bool HasParameter(const std::string& name) const;
//top-level field: Parameter
const JsonMap& GetParameter() const;
//get field/value from top-level field: Parameter
const Any& GetParameter(const std::string& name) const;
//get field/value from top-level field: Parameter
template<typename T>
const T& GetParameter(const std::string& name) const
{
return AnyCast<T>(GetParameter(name));
}
//get field/value from top-level field: Parameter
template<typename T>
T GetNumberParameter(const std::string& name) const
{
return AnyNumberCast<T>(GetParameter(name));
}
//get field/value from top-level field: Parameter
template<typename T>
T GetParameter(const std::string& name, const T& defValue) const
{
const Any& a = GetParameter(name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyCast<T>(a);
}
}
template<typename T>
T GetNumberParameter(const std::string& name, const T& defValue) const
{
const Any& a = GetParameter(name);
if (a.Empty())
{
return defValue;
}
else
{
return AnyNumberCast<T>(a);
}
}
protected:
JsonMap mParameter;
Any mContent;
};
typedef std::shared_ptr<JsonConfig> JsonConfigPtr;
}
}
#endif//__UT_JSON_CONFIG_HPP__

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#ifndef __UT_JSONIZE_HPP__
#define __UT_JSONIZE_HPP__
#define JN_FROM_WEAK(m, name, value) \
if (m.find(name) != m.end()){ JN_FROM(m, name, value); }
#define JN_FROM(m, name, value) \
unitree::common::FromJson(m[name], value)
#define JN_TO(m, name, value) \
unitree::common::ToJson(value, m[name])
#include <unitree/common/json/json.hpp>
namespace unitree
{
namespace common
{
template<typename T>
void FromJson(const Any& a, T& t);
template<typename T>
void ToJson(const T& value, Any& a);
template<typename T>
void FromJsonString(const std::string& s, T& t)
{
Any a = FromJsonString(s);
FromJson<T>(a, t);
}
template<typename T>
std::string ToJsonString(const T& t, bool pretty = false)
{
Any a;
ToJson<T>(t, a);
return ToJsonString(a, pretty);
}
class Jsonize
{
public:
virtual void toJson(JsonMap& a) const = 0;
virtual void fromJson(JsonMap& a) = 0;
};
void FromAny(const Any& a, int8_t& value);
void FromAny(const Any& a, uint8_t& value);
void FromAny(const Any& a, int16_t& value);
void FromAny(const Any& a, uint16_t& value);
void FromAny(const Any& a, int32_t& value);
void FromAny(const Any& a, uint32_t& value);
void FromAny(const Any& a, int64_t& value);
void FromAny(const Any& a, uint64_t& value);
void FromAny(const Any& a, float& value);
void FromAny(const Any& a, double& value);
void FromAny(const Any& a, bool& value);
void FromAny(const Any& a, std::string& value);
void FromAny(const Any& a, JsonMap& value);
void FromAny(const Any& a, JsonArray& value);
void FromAny(const Any& a, Jsonize& value);
template<typename E>
void FromAny(const Any& a, std::vector<E>& value)
{
if (a.Empty())
{
return;
}
const JsonArray& arr = AnyCast<JsonArray>(a);
size_t i, count = arr.size();
for (i=0; i<count; i++)
{
E e;
const Any& a_in = arr[i];
FromJson<E>(a_in, e);
value.push_back(std::move(e));
}
}
template<typename E>
void FromAny(const Any& a, std::list<E>& value)
{
if (a.Empty())
{
return;
}
const JsonArray& arr = AnyCast<JsonArray>(a);
size_t i, count = arr.size();
for (i=0; i<count; i++)
{
E e;
const Any& a_in = arr[i];
FromJson<E>(a_in, e);
value.push_back(std::move(e));
}
}
template<typename E>
void FromAny(const Any& a, std::set<E>& value)
{
if (a.Empty())
{
return;
}
const JsonArray& arr = AnyCast<JsonArray>(a);
size_t i, count = arr.size();
for (i=0; i<count; i++)
{
E e;
const Any& a_in = arr[i];
FromJson<E>(a_in, e);
value.insert(std::move(e));
}
}
template<typename E>
void FromAny(const Any& a, std::map<std::string,E>& value)
{
if (a.Empty())
{
return;
}
const JsonMap& m = AnyCast<JsonMap>(a);
JsonMap::const_iterator iter;
for (iter = m.begin(); iter != m.end(); ++iter)
{
E e;
const std::string& name = iter->first;
const Any& a_in = iter->second;
FromJson<E>(a_in, e);
value[name] = std::move(e);
}
}
template<typename T>
void FromJson(const Any& a, T& t)
{
FromAny(a, t);
}
void ToAny(const int8_t& value, Any& a);
void ToAny(const uint8_t& value, Any& a);
void ToAny(const int16_t& value, Any& a);
void ToAny(const uint16_t& value, Any& a);
void ToAny(const int32_t& value, Any& a);
void ToAny(const uint32_t& value, Any& a);
void ToAny(const int64_t& value, Any& a);
void ToAny(const uint64_t& value, Any& a);
void ToAny(const float& value, Any& a);
void ToAny(const double& value, Any& a);
void ToAny(const bool& value, Any& a);
void ToAny(const std::string& value, Any& a);
void ToAny(const JsonMap& value, Any& a);
void ToAny(const JsonArray& value, Any& a);
void ToAny(const Jsonize& value, Any& a);
template<typename E>
void ToAny(const std::vector<E>& value, Any& a)
{
JsonArray arr;
size_t i, count = value.size();
for (i=0; i<count; i++)
{
Any a_in;
const E& e = value[i];
ToJson<E>(e, a_in);
arr.push_back(std::move(a_in));
}
a = Any(arr);
}
template<typename E>
void ToAny(const std::list<E>& value, Any& a)
{
JsonArray arr;
typename std::list<E>::const_iterator iter;
for (iter = value.begin(); iter != value.end(); ++iter)
{
Any a_in;
const E& e = *iter;
ToJson<E>(e, a_in);
arr.push_back(std::move(a_in));
}
a = Any(arr);
}
template<typename E>
void ToAny(const std::set<E>& value, Any& a)
{
JsonArray arr;
typename std::set<E>::const_iterator iter;
for (iter = value.begin(); iter != value.end(); ++iter)
{
Any a_in;
const E& e = *iter;
ToJson<E>(e, a_in);
arr.push_back(std::move(a_in));
}
a = Any(arr);
}
template<typename E>
void ToAny(const std::map<std::string,E>& value, Any& a)
{
JsonMap m;
typename std::map<std::string,E>::const_iterator iter;
for (iter = value.begin(); iter != value.end(); ++iter)
{
Any a_in;
const std::string& name = iter->first;
const E& e = iter->second;
ToJson<E>(e, a_in);
m[name] = a_in;
}
a = Any(m);
}
template<typename T>
void ToJson(const T& value, Any& a)
{
//std::cout << typeid(value).name() << std::endl;
ToAny(value, a);
}
}
}
#endif//__UT_JSONIZE_HPP__