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msg: add message translation node for ROS

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This commit is contained in:
Beat Küng
2024-10-29 14:50:08 +01:00
committed by Silvan Fuhrer
parent 975ec30c9c
commit f6bfa9812e
32 changed files with 3200 additions and 0 deletions
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msg/translation_node/src/template_util.h
+64
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/****************************************************************************
* Copyright (c) 2024 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
#include <memory>
#include <utility>
#include <type_traits>
#include <vector>
/**
* Helper struct to store template parameter packs
*/
template <typename... Args>
struct Pack {
};
/**
* Struct for a template parameter pack with access to the individual types
*/
template<typename ...Types>
struct TypesArray {
template<typename T, typename...OtherTypes>
struct TypeHelper {
using Type = T;
using Next = TypeHelper<OtherTypes..., void>;
};
using Type1 = typename TypeHelper<Types...>::Type;
using Type2 = typename TypeHelper<Types...>::Next::Type;
using Type3 = typename TypeHelper<Types...>::Next::Next::Type;
using Type4 = typename TypeHelper<Types...>::Next::Next::Next::Type;
using Type5 = typename TypeHelper<Types...>::Next::Next::Next::Next::Type;
using Type6 = typename TypeHelper<Types...>::Next::Next::Next::Next::Next::Type;
using args = Pack<Types...>;
};
/**
* Helper for call_translation_function()
*/
template<typename F, typename MessageType, typename... ArgsIn, typename... ArgsOut, size_t... Is, size_t... Os>
inline void call_translation_function_impl(F f, Pack<ArgsIn...>, Pack<ArgsOut...>,
const std::vector<std::shared_ptr<MessageType>>& messages_in,
std::vector<std::shared_ptr<MessageType>>& messages_out,
std::integer_sequence<size_t, Is...>, std::integer_sequence<size_t, Os...>)
{
f(*static_cast<const ArgsIn*>(messages_in[Is].get())..., *static_cast<ArgsOut*>(messages_out[Os].get())...);
}
/**
* Call a translation function F which takes the arguments (const ArgsIn&..., ArgsOut&...),
* by passing messages_in and messages_out as arguments.
* Note that sizeof(ArgsIn) == messages_in.length() && sizeof(ArgsOut) == messages_out.length() must hold.
*/
template<typename F, typename MessageType, typename... ArgsIn, typename... ArgsOut>
inline void call_translation_function(F f, Pack<ArgsIn...> pack_in, Pack<ArgsOut...> pack_out,
const std::vector<std::shared_ptr<MessageType>>& messages_in,
std::vector<std::shared_ptr<MessageType>>& messages_out) {
call_translation_function_impl(f, pack_in, pack_out, messages_in, messages_out,
std::index_sequence_for<ArgsIn...>{}, std::index_sequence_for<ArgsOut...>{});
}