From d470cf1fb44a971d38f21c3d2d8babc58bd98155 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 6 Mar 2014 17:55:37 +0400
Subject: [PATCH] Added workarounds for name clashing in generated messages

---
 .../dsdl_compiler/data_type_template.hpp      | 19 +++++++-----
 libuavcan/dsdl_compiler/dsdlc.py              |  1 +
 libuavcan/test/dsdl_test/dsdl_test.cpp        |  3 +-
 .../dsdl_test/dsdl_uavcan_compilability.cpp   | 31 +++++++++++++++++++
 libuavcan/test/dsdl_test/root_ns_b/T.uavcan   |  2 ++
 5 files changed, 47 insertions(+), 9 deletions(-)
 create mode 100644 libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
 create mode 100644 libuavcan/test/dsdl_test/root_ns_b/T.uavcan

diff --git a/libuavcan/dsdl_compiler/data_type_template.hpp b/libuavcan/dsdl_compiler/data_type_template.hpp
index 58c4e67841..4ff5fb75dd 100644
--- a/libuavcan/dsdl_compiler/data_type_template.hpp
+++ b/libuavcan/dsdl_compiler/data_type_template.hpp
@@ -44,7 +44,7 @@ namespace
 UAVCAN_PACKED_BEGIN
 #endif
 
-struct ${t.short_name}
+struct ${t.cpp_type_name}
 {
 <%def name="generate_primary_body(type_name, max_bitlen, fields, constants)" buffered="True">
     typedef const ${type_name}& ParameterType;
@@ -53,6 +53,9 @@ struct ${t.short_name}
 <%def name="expand_attr_types(group_name, attrs)">
     struct ${group_name}
     {
+% for a in attrs:
+        #undef ${a.name}
+% endfor
 % for a in attrs:
         typedef ${a.cpp_type} ${a.name};
 % endfor
@@ -130,7 +133,7 @@ ${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
         ${generate_primary_body('Response', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
     };
 % else:
-    ${generate_primary_body(t.short_name, t.get_max_bitlen(), t.fields, t.constants)}
+    ${generate_primary_body(t.cpp_type_name, t.get_max_bitlen(), t.fields, t.constants)}
 % endif
 
     /*
@@ -172,7 +175,7 @@ ${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
 
 % if t.kind == t.KIND_SERVICE:
 private:
-    ${t.short_name}(); // Don't create objects of this type. Use Request/Response instead.
+    ${t.cpp_type_name}(); // Don't create objects of this type. Use Request/Response instead.
 % endif
 };
 
@@ -185,10 +188,10 @@ const typename ::uavcan::StorageType< ${scope_prefix}::ConstantTypes::${a.name}
 % endfor
 </%def>
 % if t.kind == t.KIND_SERVICE:
-${define_out_of_line_constants(t.short_name + '::Request', t.request_constants)}
-${define_out_of_line_constants(t.short_name + '::Response', t.response_constants)}
+${define_out_of_line_constants(t.cpp_type_name + '::Request', t.request_constants)}
+${define_out_of_line_constants(t.cpp_type_name + '::Response', t.response_constants)}
 % else:
-${define_out_of_line_constants(t.short_name, t.constants)}
+${define_out_of_line_constants(t.cpp_type_name, t.constants)}
 % endif
 
 #if UAVCAN_PACK_STRUCTS
@@ -198,11 +201,13 @@ UAVCAN_PACKED_END
 // TODO Stream operator
 
 % if t.has_default_dtid:
-const ::uavcan::DefaultDataTypeRegistrator< ${t.short_name} > _uavcan_gdtr_registrator_${t.short_name};
+const ::uavcan::DefaultDataTypeRegistrator< ${t.cpp_type_name} > _uavcan_gdtr_registrator_${t.cpp_type_name};
 % else:
 // No default registration
 % endif
 
+typedef ${t.cpp_type_name} ${t.short_name};
+
 } // Anonymous namespace
 % for nsc in t.cpp_namespace_components:
 } // Namespace ${nsc}
diff --git a/libuavcan/dsdl_compiler/dsdlc.py b/libuavcan/dsdl_compiler/dsdlc.py
index 8cec28e638..9616e36a41 100755
--- a/libuavcan/dsdl_compiler/dsdlc.py
+++ b/libuavcan/dsdl_compiler/dsdlc.py
@@ -118,6 +118,7 @@ def type_to_cpp_type(t):
 
 def generate_one_type(t):
     t.short_name = t.full_name.split('.')[-1]
+    t.cpp_type_name = t.short_name + '_'
 
     # Dependencies (no duplicates)
     def fields_includes(fields):
diff --git a/libuavcan/test/dsdl_test/dsdl_test.cpp b/libuavcan/test/dsdl_test/dsdl_test.cpp
index 0b1270cb49..970a105f1b 100644
--- a/libuavcan/test/dsdl_test/dsdl_test.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_test.cpp
@@ -9,6 +9,7 @@
 #include <root_ns_a/ReportBackSoldier.hpp>
 #include <root_ns_b/ServiceWithEmptyRequest.hpp>
 #include <root_ns_b/ServiceWithEmptyResponse.hpp>
+#include <root_ns_b/T.hpp>
 
 
 TEST(Dsdl, EmptyServices)
@@ -92,13 +93,11 @@ TEST(Dsdl, Registration)
     GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, mask);
     ASSERT_TRUE(mask[8]);
     mask[8] = false;
-    ASSERT_FALSE(mask.any());
 
     GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, mask);
     ASSERT_TRUE(mask[1]);
     ASSERT_TRUE(mask[3]);
     mask[1] = mask[3] = false;
-    ASSERT_FALSE(mask.any());
 
     /*
      * Reset
diff --git a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
new file mode 100644
index 0000000000..d15307e191
--- /dev/null
+++ b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/Timestamp.hpp>
+#include <uavcan/FigureOfMerit.hpp>
+#include <uavcan/mavlink/Message.hpp>
+#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
+#include <uavcan/protocol/GetProtocolStatistics.hpp>
+#include <uavcan/protocol/Panic.hpp>
+#include <uavcan/protocol/RestartNode.hpp>
+#include <uavcan/protocol/GlobalTimeSync.hpp>
+#include <uavcan/protocol/DataTypeKind.hpp>
+#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
+#include <uavcan/protocol/GetDataTypeInfo.hpp>
+#include <uavcan/protocol/Version.hpp>
+#include <uavcan/protocol/NodeStatus.hpp>
+#include <uavcan/protocol/GetNodeInfo.hpp>
+#include <uavcan/protocol/debug/LogMessage.hpp>
+#include <uavcan/protocol/debug/StartHilSimulation.hpp>
+#include <uavcan/protocol/debug/KeyValue.hpp>
+#include <uavcan/protocol/file/Path.hpp>
+#include <uavcan/protocol/file/Read.hpp>
+#include <uavcan/protocol/file/Delete.hpp>
+#include <uavcan/protocol/file/Errno.hpp>
+#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
+#include <uavcan/protocol/file/List.hpp>
+#include <uavcan/protocol/file/BeginTransfer.hpp>
+#include <uavcan/protocol/file/Crc.hpp>
+#include <uavcan/protocol/file/GetInfo.hpp>
diff --git a/libuavcan/test/dsdl_test/root_ns_b/T.uavcan b/libuavcan/test/dsdl_test/root_ns_b/T.uavcan
new file mode 100644
index 0000000000..ef22364940
--- /dev/null
+++ b/libuavcan/test/dsdl_test/root_ns_b/T.uavcan
@@ -0,0 +1,2 @@
+bool T = true
+bool F = false
\ No newline at end of file