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[WIP] Yarp types names #2231

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[WIP] Yarp types names #2231

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1e84e33
wip-thrift-type
drdanz Mar 12, 2020
7628738
modified thrift yarp_generator to add name and version to yarp data t…
randaz81 Mar 13, 2020
08a3bdb
comments addressed
randaz81 Mar 13, 2020
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63 changes: 63 additions & 0 deletions src/idls/thrift/src/t_yarp_generator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,9 @@ class t_yarp_generator : public t_oop_generator
void generate_struct_read_connectionreader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_write_wirereader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_write_connectionreader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_typeconstexpr(t_struct* tstruct, std::ostringstream& f_h_, const std::string& type, const std::string& version);
void generate_struct_tostring(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_gettype(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_unwrapped_helper(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_editor(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_editor_default_constructor(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
Expand Down Expand Up @@ -1840,6 +1842,22 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)
yarp_api_keyword = annotations.at("yarp.api.keyword");
}

std::string yarp_type_name{};
if (annotations.find("yarp.type.name") != annotations.end()) {
yarp_type_name = annotations.at("yarp.type.name");
}
else {
yarp_type_name = "";
}

std::string yarp_type_version{};
if (annotations.find("yarp.type.version") != annotations.end()) {
yarp_type_version = annotations.at("yarp.type.version");
}
else {
yarp_type_version = "";
}

// Open header file
std::string f_header_name = get_out_dir() + get_include_prefix(program_) + name + ".h";
ofstream_with_content_based_conditional_update f_h_;
Expand Down Expand Up @@ -1874,6 +1892,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)

f_h_ << "#include <yarp/os/Wire.h>\n";
f_h_ << "#include <yarp/os/idl/WireTypes.h>\n";
f_h_ << "#include <yarp/os/Type.h>\n";
if (need_common_) {
f_h_ << '\n';
f_h_ << "#include <" << get_include_prefix(program_) << program_->get_name() << "_common.h>" << '\n';
Expand Down Expand Up @@ -1915,7 +1934,9 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)
generate_struct_read_connectionreader(tstruct, f_h_, f_cpp_);
generate_struct_write_wirereader(tstruct, f_h_, f_cpp_);
generate_struct_write_connectionreader(tstruct, f_h_, f_cpp_);
generate_struct_typeconstexpr(tstruct, f_h_, yarp_type_name, yarp_type_version);
generate_struct_tostring(tstruct, f_h_, f_cpp_);
generate_struct_gettype(tstruct, f_h_, f_cpp_);
generate_struct_unwrapped_helper(tstruct, f_h_, f_cpp_);

// Add editor class, if not disabled
Expand Down Expand Up @@ -2218,6 +2239,48 @@ void t_yarp_generator::generate_struct_tostring(t_struct* tstruct, std::ostrings
assert(indent_count_cpp() == 0);
}

void t_yarp_generator::generate_struct_typeconstexpr(t_struct* tstruct, std::ostringstream& f_h_, const std::string& yarp_type_name, const std::string& yarp_type_version)
{
THRIFT_DEBUG_COMMENT(f_h_);

const auto& name = tstruct->get_name();

f_h_ << indent_h() << "//The name and the version for this message\n";
f_h_ << indent_h() << "static constexpr const char* typeName = \"" << yarp_type_name << "\";\n";
f_h_ << indent_h() << "static constexpr const char* typeVersion = \"" << yarp_type_version << "\";\n";
f_h_ << '\n';

assert(indent_count_h() == 1);
}

void t_yarp_generator::generate_struct_gettype(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_)
{
THRIFT_DEBUG_COMMENT(f_h_);
THRIFT_DEBUG_COMMENT(f_cpp_);

const auto& name = tstruct->get_name();

f_h_ << indent_h() << "// Get the message type\n";
f_h_ << indent_h() << "yarp::os::Type getType() const;\n";
f_h_ << '\n';

f_cpp_ << indent_cpp() << "// Get the message type\n";
f_cpp_ << indent_cpp() << "yarp::os::Type " << name << "::getType() const\n";
f_cpp_ << indent_cpp() << "{\n";
indent_up_cpp();
{
f_cpp_ << indent_cpp() << "yarp::os::Type typ = yarp::os::Type::byNameOnWire(typeName);\n";
f_cpp_ << indent_cpp() << "typ.setVersion(typeVersion);\n";
f_cpp_ << indent_cpp() << "return typ;\n";
}
indent_down_cpp();
f_cpp_ << indent_cpp() << "}\n";
f_cpp_ << '\n';

assert(indent_count_h() == 1);
assert(indent_count_cpp() == 0);
}

void t_yarp_generator::generate_struct_unwrapped_helper(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_)
{
THRIFT_DEBUG_COMMENT(f_h_);
Expand Down
2 changes: 2 additions & 0 deletions src/libYARP_dev/src/idl/LaserScan2D.thrift
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Original file line number Diff line number Diff line change
Expand Up @@ -37,4 +37,6 @@ struct LaserScan2D
(
yarp.api.include = "yarp/dev/api.h"
yarp.api.keyword = "YARP_dev_API"
yarp.type.name = "yarp/LaserScan2D"
yarp.type.version = "1.0"
)
9 changes: 9 additions & 0 deletions src/libYARP_dev/src/idl_generated_code/yarp/dev/LaserScan2D.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,8 @@ bool LaserScan2D::read(yarp::os::ConnectionReader& connection)
// Write structure on a Wire
bool LaserScan2D::write(const yarp::os::idl::WireWriter& writer) const
{
//write_type();

if (!write_angle_min(writer)) {
return false;
}
Expand Down Expand Up @@ -121,6 +123,13 @@ std::string LaserScan2D::toString() const
return b.toString();
}

yarp::os::Type LaserScan2D::getType() const
{
yarp::os::Type typ = yarp::os::Type::byNameOnWire(typeName);
typ.setVersion(typeVersion);
return typ;
}

// Editor: default constructor
LaserScan2D::Editor::Editor()
{
Expand Down
7 changes: 7 additions & 0 deletions src/libYARP_dev/src/idl_generated_code/yarp/dev/LaserScan2D.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,13 @@ class YARP_dev_API LaserScan2D :
// If you want to serialize this class without nesting, use this helper
typedef yarp::os::idl::Unwrapped<LaserScan2D> unwrapped;


// The name for this message, ROS will need this
static constexpr const char* typeName = "yarp/LaserScan2D";
static constexpr const char* typeVersion = "1.0";

yarp::os::Type getType() const override;

class Editor :
public yarp::os::Wire,
public yarp::os::PortWriter
Expand Down
36 changes: 36 additions & 0 deletions src/libYARP_os/src/yarp/os/Type.cpp
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Expand Up @@ -84,6 +84,7 @@ class Type::Private
Property* prop{nullptr};
std::string name;
std::string name_on_wire;
std::string version;
};


Expand All @@ -108,6 +109,27 @@ Type::~Type()
delete mPriv;
}

std::string Type::getVersion() const
{
return mPriv->version;
}

size_t Type::getMajorVersion() const
{
unsigned int major = 0;
unsigned int minor = 0;
int ret = sscanf(mPriv->version.c_str(),"%u.%u", &major, &minor);
return major;
}

size_t Type::getMinorVersion() const
{
unsigned int major = 0;
unsigned int minor = 0;
int ret = sscanf(mPriv->version.c_str(), "%u.%u", &major, &minor);
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Codacy Issue found: Variable 'ret' is assigned a value that is never used.

return minor;
}

Type& Type::operator=(const Type& rhs)
{
if (&rhs != this) {
Expand Down Expand Up @@ -154,8 +176,17 @@ bool Type::hasName() const
return !mPriv->name.empty();
}

bool Type::hasVersion() const
{
return !mPriv->version.empty();
}

bool Type::isValid() const
{
#if 0
//this should be tested carefully, it could be a breaking change!
return hasName() && hasVersion();
#endif
return hasName();
}

Expand All @@ -170,6 +201,11 @@ std::string Type::toString() const
return "null";
}

Type& Type::setVersion(const std::string& version)
{
mPriv->version = version;
return *this;
}

Type Type::byName(const char* name)
{
Expand Down
10 changes: 10 additions & 0 deletions src/libYARP_os/src/yarp/os/Type.h
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Expand Up @@ -72,8 +72,16 @@ class YARP_os_API Type

std::string getNameOnWire() const;

std::string getVersion() const;

size_t getMajorVersion() const;

size_t getMinorVersion() const;

bool hasName() const;

bool hasVersion() const;

bool isValid() const;

std::string toString() const;
Expand All @@ -84,6 +92,8 @@ class YARP_os_API Type

Type& addProperty(const char* key, const Value& val);

Type& setVersion(const std::string& vesion);

/** @} */
/** @{ */

Expand Down