@###############################################
@#
@# 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/

builtin_types = set()
}@
@#################################################
@# Searching for serialize function per each field
@#################################################
@{

def get_include_directives(spec):
    include_directives = set()
    for field in (spec.parsed_fields()):
        if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
            continue
        builtin_type = str(field.base_type).replace('px4/', '')
        include_directive = '#include "%s_.idl"' % builtin_type
        builtin_types.add(builtin_type)
        include_directives.add(include_directive)
    return sorted(include_directives)


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 field.is_array:
            print("    " + str(get_idl_type_name(field.base_type)) +
                  ' ' + field.name + '[' + str(field.array_len) + '];')
        else:
            print("    " + str(get_idl_type_name(field.type)) +
                  ' ' + field.name + ';')


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)


def add_msg_constants():
    sorted_constants = sorted(spec.constants,
                           key=sizeof_field_type, reverse=True)
    for constant in sorted_constants:
        constant_value = '%d' % constant.val
        print("const " + get_idl_type_name(constant.type) + " " + constant.name + " = " + constant_value + ";")

}@
#ifndef __@(spec.short_name)__idl__
#define __@(spec.short_name)__idl__

@#############################
@# Include dependency messages
@#############################
@[for line in get_include_directives(spec)]@
@(line)
@[end for]@

@# Constants
@add_msg_constants()

@[for type in builtin_types]@
typedef @(type + '_') @(type);
@[end for]@

struct @(spec.short_name)_
{
@add_msg_fields()
}; // struct @(spec.short_name)_

#pragma keylist @(spec.short_name)_

#endif  // __@(spec.short_name)__idl__