mirror of https://github.com/ArduPilot/ardupilot
175 lines
5.0 KiB
Plaintext
175 lines
5.0 KiB
Plaintext
@###############################################
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@#
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@# ROS message source code generation for C++
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@#
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@# EmPy template for generating <msg>.h files
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - file_name_in (String) Source .srv file
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@# - spec (msggen.SrvSpec) Parsed specification of the .srv file
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@# - md5sum (String) MD5Sum of the .srv specification
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@###############################################
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/* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Auto-generated by gensrv_cpp from file @file_name_in
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*
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*/
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@{
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cpp_namespace = '::'+spec.package+'::' # TODO handle nested namespace
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cpp_class = spec.short_name
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cpp_full_name = cpp_namespace+cpp_class
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}@
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#ifndef @(spec.package.upper())_MESSAGE_@(spec.short_name.upper())_H
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#define @(spec.package.upper())_MESSAGE_@(spec.short_name.upper())_H
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#include <ros/service_traits.h>
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@###############################################
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@# Generate Request and Response Messages
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@###############################################
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#include <@(spec.package)/@(spec.short_name)Request.h>
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#include <@(spec.package)/@(spec.short_name)Response.h>
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@###############################################
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@# Service Struct
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@###############################################
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namespace @(spec.package)
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{
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struct @(spec.short_name)
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{
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typedef @(spec.request.short_name) Request;
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typedef @(spec.response.short_name) Response;
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Request request;
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Response response;
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typedef Request RequestType;
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typedef Response ResponseType;
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}; // struct @(spec.short_name)
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} // namespace @(spec.package)
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@###############################################
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@# Service-Traits
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@###############################################
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namespace ros
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{
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namespace service_traits
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{
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@[for trait_class,trait_value in [['MD5Sum', md5sum], ['DataType', spec.full_name]] ]
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template<>
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struct @trait_class< @cpp_full_name > {
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static const char* value()
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{
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return "@(trait_value)";
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}
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static const char* value(const @(cpp_full_name)&) { return value(); }
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};
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@[end for]
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// service_traits::MD5Sum< @(cpp_full_name)Request> should match
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// service_traits::MD5Sum< @cpp_full_name >
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template<>
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struct MD5Sum< @(cpp_full_name)Request>
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{
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static const char* value()
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{
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return MD5Sum< @cpp_full_name >::value();
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}
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static const char* value(const @(cpp_full_name)Request&)
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{
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return value();
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}
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};
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// service_traits::DataType< @(cpp_full_name)Request> should match
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// service_traits::DataType< @cpp_full_name >
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template<>
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struct DataType< @(cpp_full_name)Request>
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{
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static const char* value()
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{
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return DataType< @cpp_full_name >::value();
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}
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static const char* value(const @(cpp_full_name)Request&)
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{
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return value();
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}
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};
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// service_traits::MD5Sum< @(cpp_full_name)Response> should match
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// service_traits::MD5Sum< @cpp_full_name >
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template<>
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struct MD5Sum< @(cpp_full_name)Response>
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{
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static const char* value()
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{
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return MD5Sum< @cpp_full_name >::value();
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}
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static const char* value(const @(cpp_full_name)Response&)
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{
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return value();
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}
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};
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// service_traits::DataType< @(cpp_full_name)Response> should match
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// service_traits::DataType< @cpp_full_name >
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template<>
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struct DataType< @(cpp_full_name)Response>
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{
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static const char* value()
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{
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return DataType< @cpp_full_name >::value();
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}
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static const char* value(const @(cpp_full_name)Response&)
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{
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return value();
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}
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};
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} // namespace service_traits
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} // namespace ros
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#endif // @(spec.package.upper())_MESSAGE_@(spec.short_name.upper())_H
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