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Simplified service types: the nested types Request/Response are templates now, but the containing type is not, so using 'typename' to refer to Request or Response is no longer necessary.
This commit is contained in:
Pavel Kirienko
parent
7bc7269e37
commit
beaba20749
@ -40,12 +40,14 @@ namespace ${nsc}
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UAVCAN_PACKED_BEGIN
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#endif
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% if t.kind != t.KIND_SERVICE:
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template <int I>
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% endif
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struct ${t.cpp_type_name}
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{
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<%def name="generate_primary_body(typedef_name, ctor_name, max_bitlen, fields, constants)" buffered="True">
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typedef const ${typedef_name}& ParameterType;
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typedef ${typedef_name}& ReferenceType;
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<%def name="generate_primary_body(type_name, max_bitlen, fields, constants)" buffered="True">
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typedef const ${type_name}<I>& ParameterType;
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typedef ${type_name}<I>& ReferenceType;
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<%def name="expand_attr_types(group_name, attrs)">
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struct ${group_name}
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@ -87,7 +89,7 @@ struct ${t.cpp_type_name}
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typename ::uavcan::StorageType< typename FieldTypes::${a.name} >::Type ${a.name};
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% endfor
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${ctor_name}()
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${type_name}()
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% for idx,a in enumerate(fields):
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${':' if idx == 0 else ','} ${a.name}()
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% endfor
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@ -96,6 +98,7 @@ struct ${t.cpp_type_name}
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::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxTransferPayloadLen)>::check();
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::uavcan::StaticAssert<I == 0>::check(); // Usage check
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#if UAVCAN_DEBUG
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/*
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* Cross-checking MaxBitLen provided by the DSDL compiler.
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@ -137,17 +140,22 @@ ${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
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${generate_codec_calls_per_field('decode', 'ReferenceType')}
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</%def>
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% if t.kind == t.KIND_SERVICE:
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struct Request
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template <int I>
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struct Request_
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{
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${generate_primary_body('Request', 'Request', t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
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${generate_primary_body('Request_', t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
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};
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struct Response
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template <int I>
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struct Response_
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{
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${generate_primary_body('Response', 'Response', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
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${generate_primary_body('Response_', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
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};
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typedef Request_<0> Request;
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typedef Response_<0> Response;
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% else:
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${generate_primary_body(t.cpp_type_name + '<I>', t.cpp_type_name, t.get_max_bitlen(), t.fields, t.constants)}
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${generate_primary_body(t.cpp_type_name, t.get_max_bitlen(), t.fields, t.constants)}
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% endif
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/*
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@ -197,24 +205,28 @@ private:
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% for a in constants:
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% if not a.cpp_use_enum:
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template <int I>
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const typename ::uavcan::StorageType< typename ${scope_prefix}::ConstantTypes::${a.name} >::Type
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${scope_prefix}::${a.name} = ${a.cpp_value}; // ${a.init_expression}
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const typename ::uavcan::StorageType< typename ${scope_prefix}<I>::ConstantTypes::${a.name} >::Type
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${scope_prefix}<I>::${a.name} = ${a.cpp_value}; // ${a.init_expression}
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%endif
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% endfor
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</%def>
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% if t.kind == t.KIND_SERVICE:
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${define_out_of_line_constants(t.cpp_type_name + '<I>::Request', t.request_constants)}
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${define_out_of_line_constants(t.cpp_type_name + '<I>::Response', t.response_constants)}
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${define_out_of_line_constants(t.cpp_type_name + '::Request_', t.request_constants)}
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${define_out_of_line_constants(t.cpp_type_name + '::Response_', t.response_constants)}
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% else:
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${define_out_of_line_constants(t.cpp_type_name + '<I>', t.constants)}
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${define_out_of_line_constants(t.cpp_type_name, t.constants)}
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% endif
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#if UAVCAN_PACK_STRUCTS
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UAVCAN_PACKED_END
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#endif
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% if t.kind == t.KIND_SERVICE:
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typedef ${t.cpp_type_name} ${t.short_name};
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% else:
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typedef ${t.cpp_type_name}<0> ${t.short_name};
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% endif
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% if t.has_default_dtid:
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namespace
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@ -18,21 +18,23 @@ class Server : public GenericSubscriber<DataType_, typename DataType_::Request,
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{
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public:
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typedef DataType_ DataType;
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typedef typename DataType::Request RequestType;
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typedef typename DataType::Response ResponseType;
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private:
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typedef GenericSubscriber<DataType, typename DataType::Request, NumStaticReceivers, NumStaticBufs> SubscriberType;
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typedef GenericPublisher<DataType, typename DataType::Response> PublisherType;
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typedef GenericSubscriber<DataType, RequestType, NumStaticReceivers, NumStaticBufs> SubscriberType;
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typedef GenericPublisher<DataType, ResponseType> PublisherType;
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PublisherType publisher_;
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Callback callback_;
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uint32_t response_failure_count_;
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typename DataType::Response response_;
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ResponseType response_;
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void handleReceivedDataStruct(ReceivedDataStructure<typename DataType::Request>& request)
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void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
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{
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if (try_implicit_cast<bool>(callback_, true))
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{
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response_ = typename DataType::Response(); // The application needs newly initialized structure
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response_ = ResponseType(); // The application needs newly initialized structure
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callback_(request, response_);
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}
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else
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@ -1,6 +1,7 @@
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bool TRUE = true
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bool NOT_TRUE = false * true
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uint64 BIG = (1 << 64) - 1
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float64 FLOAT_CONSTANT = 3.14
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uint8[<128] string_request
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---
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float64 FLOAT_CONSTANT = 1.79769313486231570815e+308
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@ -16,8 +16,8 @@ struct ServerImpl
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ServerImpl(const char* string_response) : string_response(string_response) { }
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void handleRequest(const uavcan::ReceivedDataStructure<typename root_ns_a::StringService::Request>& request,
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typename root_ns_a::StringService::Response& response)
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void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& request,
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root_ns_a::StringService::Response& response)
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{
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std::cout << request << std::endl;
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response.string_response = request.string_request;
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@ -27,8 +27,8 @@ struct ServerImpl
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}
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typedef uavcan::MethodBinder<ServerImpl*,
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void (ServerImpl::*)(const uavcan::ReceivedDataStructure<typename root_ns_a::StringService::Request>&,
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typename root_ns_a::StringService::Response&)> Binder;
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void (ServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
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root_ns_a::StringService::Response&)> Binder;
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Binder bind() { return Binder(this, &ServerImpl::handleRequest); }
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};
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