|
|
|
|
@###############################################
|
|
|
|
|
@#
|
|
|
|
|
@# ROS message to IDL converter
|
|
|
|
|
@#
|
|
|
|
|
@# EmPy template for generating <msg>.idl files
|
|
|
|
|
@#
|
|
|
|
|
@################################################################################
|
|
|
|
|
@#
|
|
|
|
|
@# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
|
|
|
|
@#
|
|
|
|
|
@# Redistribution and use in source and binary forms, with or without
|
|
|
|
|
@# modification, are permitted provided that the following conditions are met:
|
|
|
|
|
@#
|
|
|
|
|
@# 1. Redistributions of source code must retain the above copyright notice, this
|
|
|
|
|
@# list of conditions and the following disclaimer.
|
|
|
|
|
@#
|
|
|
|
|
@# 2. Redistributions in binary form must reproduce the above copyright notice,
|
|
|
|
|
@# this list of conditions and the following disclaimer in the documentation
|
|
|
|
|
@# and/or other materials provided with the distribution.
|
|
|
|
|
@#
|
|
|
|
|
@# 3. Neither the name of the copyright holder nor the names of its contributors
|
|
|
|
|
@# may be used to endorse or promote products derived from this software without
|
|
|
|
|
@# specific prior written permission.
|
|
|
|
|
@#
|
|
|
|
|
@# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
|
|
|
@# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
|
|
|
@# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
|
|
|
@# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
|
|
|
|
@# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
|
|
|
@# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
|
|
|
@# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
|
|
|
@# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
|
|
|
@# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
|
|
|
@# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
|
|
|
@# POSSIBILITY OF SUCH DAMAGE.
|
|
|
|
|
@#
|
|
|
|
|
@################################################################################
|
|
|
|
|
@{
|
|
|
|
|
import genmsg.msgs
|
|
|
|
|
import gencpp
|
|
|
|
|
from px_generate_uorb_topic_helper import * # this is in Tools/
|
|
|
|
|
|
|
|
|
|
uorb_struct = '%s_s'%spec.short_name
|
|
|
|
|
topic_name = spec.short_name
|
|
|
|
|
|
|
|
|
|
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
|
|
|
|
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
|
|
|
|
|
}@
|
|
|
|
|
@#################################################
|
|
|
|
|
@# Searching for serialize function per each field
|
|
|
|
|
@#################################################
|
|
|
|
|
@{
|
|
|
|
|
|
|
|
|
|
def get_idl_type_name(field_type):
|
|
|
|
|
if field_type in type_idl_map:
|
|
|
|
|
return type_idl_map[field_type]
|
|
|
|
|
else:
|
|
|
|
|
(package, name) = genmsg.names.package_resource_name(field_type)
|
|
|
|
|
return name
|
|
|
|
|
|
|
|
|
|
def add_msg_field(field):
|
|
|
|
|
if (not field.is_header):
|
|
|
|
|
if (not field.is_array):
|
|
|
|
|
print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
|
|
|
|
|
else:
|
|
|
|
|
print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
|
|
|
|
|
|
|
|
|
|
def add_msg_fields():
|
|
|
|
|
# sort fields (using a stable sort) as in the declaration of the type
|
|
|
|
|
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
|
|
|
|
for field in sorted_fields:
|
|
|
|
|
add_msg_field(field)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}@
|
|
|
|
|
@
|
|
|
|
|
struct @(spec.short_name)_
|
|
|
|
|
{
|
|
|
|
|
@add_msg_fields()
|
|
|
|
|
}; // struct @(spec.short_name)_
|
