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RTPS IDL: fix const names; make IDL template similar to rosidl_generator_dds_idl/resource/msg.idl.em

This commit is contained in:
TSC21 2019-05-19 16:45:59 +01:00 committed by Lorenz Meier
parent f0cd79953f
commit 3536c9dddc
1 changed files with 24 additions and 15 deletions
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39
msg/templates/urtps/msg.idl.template
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@ -41,6 +41,7 @@ import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/
builtin_types = set()
array_types = set()
}@
@#################################################
@# Searching for serialize function per each field
@ -70,11 +71,9 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
print(" " + str(get_idl_type_name(field.base_type)) +
' ' + field.name + '[' + str(field.array_len) + '];')
print(' {0}__{1}_array_{2} {3}_;'.format(spec.short_name, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
print(" " + str(get_idl_type_name(field.type)) +
' ' + field.name + ';')
print(' {0} {1}_;'.format(str(get_idl_type_name(field.type)), field.name))
def add_msg_fields():
@ -82,31 +81,41 @@ def add_msg_fields():
add_msg_field(field)
def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, spec.short_name, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if type not in array_types:
array_types.add(array_type)
for atype in array_types:
print(atype)
def add_msg_constants():
sorted_constants = sorted(spec.constants,
key=sizeof_field_type, reverse=True)
key=sizeof_field_type, reverse=True)
for constant in sorted_constants:
constant_value = '%d' % constant.val
print("const " + get_idl_type_name(constant.type) + " " + constant.name + " = " + constant_value + ";")
print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), spec.short_name, constant.name, constant.val))
}@
}
#ifndef __@(spec.short_name)__idl__
#define __@(spec.short_name)__idl__
@#############################
@# Include dependency messages
@#############################
@[for line in get_include_directives(spec)]@
@[for line in get_include_directives(spec)]
@(line)
@[end for]@
@[end for]
@# Constants
@add_msg_constants()
@[for type in builtin_types]@
@# Built-in types
@[for type in builtin_types]
typedef @(type + '_') @(type);
@[end for]@
@[end for]
@# Array types
@add_array_typedefs()
struct @(spec.short_name)_
{
@add_msg_fields()