def write_boost_serialization(s, spec, cpp_name_prefix, file):
"""
Writes the boost::serialize function for a message
@param s: Stream to write to
@type s: stream
@param spec: The message spec
@type spec: roslib.msgs.MsgSpec
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
@type cpp_name_prefix: str
"""
(cpp_msg_unqualified, cpp_msg_with_alloc,
_) = gencpp.cpp_message_declarations(cpp_name_prefix, spec.short_name)
port_spec_dict = get_port_spec_dict(spec)
s.write(
"/* Auto-generated by create_components_source.py for file %s */\n" %
(file))
s.write('#include <%s/subsystem_buffers/%s.h>\n' %
(spec.package, spec.short_name))
s.write('#include <common_interfaces/message_concate.h>\n')
s.write('#include <common_interfaces/message_split.h>\n')
s.write('#include <rtt/Component.hpp>\n\n')
s.write('namespace %s {\n\n' % (spec.package))
s.write('typedef MessageConcate<%s_InputPorts > %sConcate;\n' %
(spec.short_name, spec.short_name))
s.write('typedef MessageSplit<%s_OutputPorts > %sSplit;\n' %
(spec.short_name, spec.short_name))
s.write('} // namespace %s\n\n' % (spec.package))
s.write('typedef %s::%sConcate %s_%sConcate;\n' %
(spec.package, spec.short_name, spec.package, spec.short_name))
s.write('ORO_LIST_COMPONENT_TYPE(%s_%sConcate)\n' %
(spec.package, spec.short_name))
s.write('typedef %s::%sSplit %s_%sSplit;\n' %
(spec.package, spec.short_name, spec.package, spec.short_name))
s.write('ORO_LIST_COMPONENT_TYPE(%s_%sSplit)\n' %
(spec.package, spec.short_name))
def write_boost_serialization(s, spec, cpp_name_prefix, file):
"""
Writes the boost::serialize function for a message
@param s: Stream to write to
@type s: stream
@param spec: The message spec
@type spec: roslib.msgs.MsgSpec
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
@type cpp_name_prefix: str
"""
(cpp_msg_unqualified, cpp_msg_with_alloc,
_) = gencpp.cpp_message_declarations(cpp_name_prefix, spec.short_name)
s.write("/* Auto-generated by create_boost_header.py for file %s */\n" %
(file))
s.write('#ifndef %s_BOOST_SERIALIZATION_%s_H\n' %
(spec.package.upper(), spec.short_name.upper()))
s.write('#define %s_BOOST_SERIALIZATION_%s_H\n\n' %
(spec.package.upper(), spec.short_name.upper()))
s.write('#include <boost/serialization/serialization.hpp>\n')
s.write('#include <boost/serialization/nvp.hpp>\n')
s.write('#include <boost/serialization/vector.hpp>\n')
s.write('#include <boost/serialization/string.hpp>\n')
s.write('#include <%s/%s.h>\n' % (spec.package, spec.short_name))
write_boost_includes(s, spec)
s.write('namespace boost\n{\n')
s.write('namespace serialization\n{\n\n')
s.write('template<class Archive, class ContainerAllocator>\n')
s.write('void serialize(Archive& a, %s & m, unsigned int)\n{\n' %
(cpp_msg_with_alloc))
for field in spec.parsed_fields():
s.write(' a & make_nvp("%s",m.%s);\n' % (field.name, field.name))
s.write('}\n\n')
s.write('} // namespace serialization\n')
s.write('} // namespace boost\n\n')
s.write('#endif // %s_BOOST_SERIALIZATION_%s_H\n' %
(spec.package.upper(), spec.short_name.upper()))
def write_boost_serialization(s, spec, cpp_name_prefix, file):
"""
Writes the boost::serialize function for a message
@param s: Stream to write to
@type s: stream
@param spec: The message spec
@type spec: roslib.msgs.MsgSpec
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
@type cpp_name_prefix: str
"""
(cpp_msg_unqualified, cpp_msg_with_alloc,
_) = gencpp.cpp_message_declarations(cpp_name_prefix, spec.short_name)
# port_spec_dict = get_port_spec_dict(spec)
s.write("/* Auto-generated by create_boost_header.py for file %s */\n" %
(file))
s.write('#ifndef %s_SUBSYSTEM_BUFFERS_%s_H\n' %
(spec.package.upper(), spec.short_name.upper()))
s.write('#define %s_SUBSYSTEM_BUFFERS_%s_H\n\n' %
(spec.package.upper(), spec.short_name.upper()))
s.write('#include <rtt/RTT.hpp>\n')
s.write('#include <common_interfaces/interface_ports_fwd.h>\n')
s.write('#include <%s/%s.h>\n' % (spec.package, spec.short_name))
s.write('namespace %s {\n\n' % (spec.package))
fields_with_validity = []
validity_fields = []
# find all validity fields
for field in spec.parsed_fields():
for field_valid in spec.parsed_fields():
if field.name == field_valid.name + "_valid" and field_valid.type == "bool":
fields_with_validity.append(field.name)
validity_fields.append(field.name + "_valid")
#
# input ports
#
s.write(
'class %s_InputPorts : public interface_ports::InputPortInterface<%s > {\n'
% (spec.short_name, spec.short_name))
s.write('public:\n')
s.write(' typedef %s Container_;\n' % (spec.short_name))
s.write('\nprivate:\n')
s.write(
' boost::shared_ptr<interface_ports::InputPortInterface<%s > > this_container__;\n'
% (spec.short_name))
# generate member list
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
s.write(
' boost::shared_ptr<interface_ports::InputPortInterface<%s > > %s_;\n'
% (msg_type_to_cpp(field.type), field.name))
# if field.name in port_spec_dict:
# s.write(' boost::shared_ptr<interface_ports::InputPortInterface<%s > > %s_;\n'%(msg_type_to_cpp(field.type), field.name))
s.write('\npublic:\n')
s.write(
' %s_InputPorts(RTT::TaskContext *tc, const std::string& prefix="");\n'
% (spec.short_name))
s.write(' bool read(%s& ros);\n' % (spec.short_name))
s.write(' bool removeUnconnectedPorts();\n')
s.write('};\n\n')
#
# output ports
#
s.write(
'class %s_OutputPorts : public interface_ports::OutputPortInterface<%s > {\n'
% (spec.short_name, spec.short_name))
s.write('public:\n')
s.write(' typedef %s Container_;\n' % (spec.short_name))
s.write('\nprivate:\n')
s.write(
' boost::shared_ptr<interface_ports::OutputPortInterface<%s > > this_container__;\n'
% (spec.short_name))
# generate member list
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
s.write(
' boost::shared_ptr<interface_ports::OutputPortInterface<%s > > %s_;\n'
% (msg_type_to_cpp(field.type), field.name))
# if field.name in port_spec_dict:
# s.write(' boost::shared_ptr<interface_ports::OutputPortInterface<%s > > %s_;\n'%(msg_type_to_cpp(field.type), field.name))
s.write('\npublic:\n')
s.write(
' %s_OutputPorts(RTT::TaskContext *tc, const std::string& prefix="");\n'
% (spec.short_name))
s.write(' bool write(const %s& ros);\n' % (spec.short_name))
s.write(' bool removeUnconnectedPorts();\n')
s.write('};\n\n')
s.write('} // namespace %s\n\n' % (spec.package))
s.write('#endif // %s_SUBSYSTEM_BUFFERS_%s_H\n' %
(spec.package.upper(), spec.short_name.upper()))
def write_boost_serialization(s, spec, cpp_name_prefix, file):
"""
Writes the boost::serialize function for a message
@param s: Stream to write to
@type s: stream
@param spec: The message spec
@type spec: roslib.msgs.MsgSpec
@param cpp_name_prefix: The C++ prefix to prepend to a message to refer to it (e.g. "std_msgs::")
@type cpp_name_prefix: str
"""
(cpp_msg_unqualified, cpp_msg_with_alloc, _) = gencpp.cpp_message_declarations(cpp_name_prefix, spec.short_name)
# port_spec_dict = get_port_spec_dict(spec)
s.write("/* Auto-generated by create_subsystem_ports_source.py for file %s */\n"%(file))
s.write('#include <%s/subsystem_buffers/%s.h>\n'%(spec.package,spec.short_name))
s.write('#include <common_interfaces/interface_ports.h>\n')
s.write('namespace %s {\n\n'%(spec.package))
for field in spec.parsed_fields():
s.write('// name: %s type: %s\n'%(field.name, msg_type_to_cpp(field.type)))
fields_with_validity = []
validity_fields = []
# find all validity fields
for field in spec.parsed_fields():
for field_valid in spec.parsed_fields():
if field.name + "_valid" == field_valid.name and field_valid.type == "bool":
fields_with_validity.append(field.name)
validity_fields.append(field.name + "_valid")
#
# input ports
#
s.write('%s_InputPorts::%s_InputPorts(RTT::TaskContext *tc, const std::string& prefix) {\n'%(spec.short_name, spec.short_name))
s.write(' this_container__.reset( new interface_ports::InputPort<%s >(tc, prefix ) );\n'%(spec.short_name))
# generate member list
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
if field.is_builtin:
s.write(' %s_.reset( new interface_ports::InputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
else:
s.write(' %s_ = interface_ports::InputPortInterfaceFactory<%s >::Instance()->Create("%s", tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\");\n'%(field.name, msg_type_to_cpp(field.type)[:-1], field.type, field.name))
s.write(' if (!%s_) {\n'%(field.name))
s.write(' %s_.reset( new interface_ports::InputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
s.write(' }\n')
# if field.name in port_spec_dict:
# port_spec = port_spec_dict[field.name]
# if port_spec[0] == 'container':
# if field.is_builtin:
# raise
# s.write(' %s_ = interface_ports::InputPortInterfaceFactory<%s >::Instance()->Create("%s", tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\");\n'%(field.name, msg_type_to_cpp(field.type)[:-1], field.type, field.name))
# elif port_spec[0] == 'port':
# s.write(' %s_.reset( new interface_ports::InputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
s.write('}\n\n')
s.write('bool %s_InputPorts::read(%s& ros) {\n'%(spec.short_name, spec.short_name))
s.write(' if (!(this_container__ && this_container__->read(ros))) {\n')
s.write(' bool result = true;\n')
s.write(' //ros = %s();\n'%(spec.short_name))
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
if field.name in fields_with_validity:
left_side = 'ros.' + field.name + '_valid = '
else:
left_side = 'result &= '
s.write(' ' + left_side + '%s_ && %s_->read(ros.%s);\n'%(field.name, field.name, field.name))
# if field.name in port_spec_dict:
# port_spec = port_spec_dict[field.name]
# validity_field = port_spec[1]
# if validity_field:
# left_side = 'ros.' + validity_field + ' = '
# else:
# left_side = 'result &= '
# s.write(' ' + left_side + '%s_ && %s_->read(ros.%s);\n'%(field.name, field.name, field.name))
s.write(' if (!result) {\n')
s.write(' ros = %s();\n'%(spec.short_name))
s.write(' }\n')
s.write(' return result;\n')
s.write(' }\n')
s.write(' return true;\n')
s.write('}\n\n')
s.write('bool %s_InputPorts::removeUnconnectedPorts() {\n'%(spec.short_name))
s.write(' bool result = true;\n')
s.write(' if (this_container__->removeUnconnectedPorts()) {\n')
s.write(' this_container__.reset();\n')
s.write(' }\n')
s.write(' else {\n')
s.write(' result = false;\n')
s.write(' }\n')
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
s.write(' if (%s_->removeUnconnectedPorts()) {\n'%(field.name))
s.write(' %s_.reset();\n'%(field.name))
s.write(' }\n')
s.write(' else {\n')
s.write(' result = false;\n')
s.write(' }\n')
# if field.name in port_spec_dict:
# port_spec = port_spec_dict[field.name]
# s.write(' if (%s_->removeUnconnectedPorts()) {\n'%(field.name))
# s.write(' %s_.reset();\n'%(field.name))
# s.write(' }\n')
# s.write(' else {\n')
# s.write(' result = false;\n')
# s.write(' }\n')
s.write(' return result;\n')
s.write('}\n')
s.write('REGISTER_InputPortInterface( %s_InputPorts, "%s/%s" );\n\n'%(spec.short_name, spec.package, spec.short_name))
#
# output ports
#
s.write('%s_OutputPorts::%s_OutputPorts(RTT::TaskContext *tc, const std::string& prefix) {\n'%(spec.short_name, spec.short_name))
s.write(' this_container__.reset( new interface_ports::OutputPort<%s >(tc, prefix ) );\n'%(spec.short_name))
# generate member list
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
if field.is_builtin:
s.write(' %s_.reset( new interface_ports::OutputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
else:
s.write(' %s_ = interface_ports::OutputPortInterfaceFactory<%s >::Instance()->Create("%s", tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\");\n'%(field.name, msg_type_to_cpp(field.type)[:-1], field.type, field.name))
s.write(' if (!%s_) {\n'%(field.name))
s.write(' %s_.reset( new interface_ports::OutputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
s.write(' }\n')
# if field.name in port_spec_dict:
# port_spec = port_spec_dict[field.name]
# if port_spec[0] == 'container':
# if field.is_builtin:
# raise Exception('built in type', "field \'" + field.name + "\' is specified as container, but it is built-in type" )
# s.write(' %s_ = interface_ports::OutputPortInterfaceFactory<%s >::Instance()->Create("%s", tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\");\n'%(field.name, msg_type_to_cpp(field.type)[:-1], field.type, field.name))
# elif port_spec[0] == 'port':
# s.write(' %s_.reset( new interface_ports::OutputPort<%s >(tc, prefix + std::string(prefix.empty()?"":"_") + \"%s\") );\n'%(field.name, msg_type_to_cpp(field.type), field.name))
s.write('}\n\n')
s.write('bool %s_OutputPorts::write(const %s& ros) {\n'%(spec.short_name, spec.short_name))
s.write(' this_container__ && this_container__->write(ros);\n')
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
if field.name in fields_with_validity:
s.write(' if (ros.%s_valid) {\n '%(field.name))
s.write(' %s_ && %s_->write(ros.%s);\n'%(field.name, field.name, field.name))
if field.name in fields_with_validity:
s.write(' }\n')
# if field.name in port_spec_dict:
# port_spec = port_spec_dict[field.name]
# validity_field = port_spec[1]
# if validity_field:
# s.write(' if (ros.%s) {\n '%(validity_field))
# s.write(' %s_ && %s_->write(ros.%s);\n'%(field.name, field.name, field.name))
# if validity_field:
# s.write(' }\n')
s.write(' return true;\n')
s.write('}\n')
s.write('bool %s_OutputPorts::removeUnconnectedPorts() {\n'%(spec.short_name))
s.write(' bool result = true;\n')
s.write(' if (this_container__->removeUnconnectedPorts()) {\n')
s.write(' this_container__.reset();\n')
s.write(' }\n')
s.write(' else {\n')
s.write(' result = false;\n')
s.write(' }\n')
for field in spec.parsed_fields():
if field.name in validity_fields:
continue
s.write(' if (%s_->removeUnconnectedPorts()) {\n'%(field.name))
s.write(' %s_.reset();\n'%(field.name))
s.write(' }\n')
s.write(' else {\n')
s.write(' result = false;\n')
s.write(' }\n')
s.write(' return result;\n')
s.write('}\n')
s.write('REGISTER_OutputPortInterface( %s_OutputPorts, "%s/%s" );\n\n'%(spec.short_name, spec.package, spec.short_name))
s.write('} // namespace %s\n\n'%(spec.package))