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