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first push on supporting ROS2 Dashing and IDL 4.2

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This commit is contained in:
TSC21
2019-10-04 16:56:03 +01:00
committed by Nuno Marques
parent f885d2274a
commit 278d2fd21f
12 changed files with 152 additions and 54 deletions
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msg/templates/urtps/msg.idl.em
+29 -3
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@@ -57,7 +57,11 @@ def get_include_directives(spec):
if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
continue
builtin_type = str(field.base_type).replace('px4/', '')
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
include_directive = '#include "%s_.idl"' % builtin_type
@[else]@
include_directive = '#include "%s.idl"' % builtin_type
@[end if]@
builtin_types.add(builtin_type)
include_directives.add(include_directive)
return sorted(include_directives)
@@ -74,10 +78,17 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
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)
print(' {0} {1}_;'.format(base_type, field.name))
@[else]@
print(' {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
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)
print(' {0} {1};'.format(base_type, field.name))
@[end if]@
def add_msg_fields():
@@ -88,6 +99,11 @@ def add_msg_fields():
def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
@[else]@
base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
@[end if]@
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, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if array_type not in array_types:
@@ -109,18 +125,28 @@ def add_msg_constants():
@#############################
@# Include dependency messages
@#############################
@[for line in get_include_directives(spec)]
@(line)
@[end for]
@[for line in get_include_directives(spec)]@
@(line)@
@[end for]@
@# Constants
@add_msg_constants()
@# Array types
@add_array_typedefs()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
struct @(topic)_
@[else]@
struct @(topic)
@[end if]@
{
@add_msg_fields()
@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
}; // struct @(topic)_
#pragma keylist @(topic)_
@[else]@
}; // struct @(topic)
#pragma keylist @(topic)
@[end if]@
#endif // __@(topic)__idl__