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updated rosoct code generator to include service datatype and message definition

This commit is contained in:
Rosen Diankov 2009-10-13 06:18:30 +00:00
parent 5d58e50920
commit beaf853300
1 changed files with 68 additions and 13 deletions
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81
core/genmsg_cpp/genmsg_oct.cpp
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@ -544,17 +544,37 @@ msg_spec::msg_spec(const string &_spec_file, const string &_package,
throw std::runtime_error("couldn't open spec file");
if (is_root) {
// compute md5sum
string cmd = string("`rospack find roslib`/scripts/gendeps --md5 ") + spec_file;
FILE *md5pipe = popen(cmd.c_str(), "r");
if (!md5pipe)
throw std::runtime_error("couldn't launch md5sum in genmsg_oct\n");
char md5buf[PATH_MAX];
if (!fgets(md5buf, PATH_MAX, md5pipe))
throw std::runtime_error("couldn't read md5sum pipe in genmsg_oct\n");
char *md5str = strtok(md5buf, " \t\n");
md5sum = string(md5str);
// call pclose sometime
{
// compute md5sum
string cmd = string("`rospack find roslib`/scripts/gendeps --md5 ") + spec_file;
FILE *md5pipe = popen(cmd.c_str(), "r");
if (!md5pipe)
throw std::runtime_error("couldn't launch gendeps in genmsg_cpp\n");
char md5buf[PATH_MAX];
if (!fgets(md5buf, PATH_MAX, md5pipe))
throw std::runtime_error("couldn't read md5sum pipe in genmsg_cpp\n");
char *md5str = strtok(md5buf, " \t\n");
md5sum = string(md5str);
// call pclose sometime
}
{
std::stringstream ss;
// compute concatenated definition
string cmd = string("`rospack find roslib`/scripts/gendeps --cat ") + spec_file;
FILE *catpipe = popen(cmd.c_str(), "r");
if (!catpipe)
throw std::runtime_error("couldn't launch gendeps in genmsg_cpp\n");
char buf[1024];
while (fgets(buf, 1024, catpipe))
{
std::string str(buf, 1024);
ss << buf;
}
// call pclose sometime
full_definition = ss.str();
}
}
const int LINEBUF_LEN = 1024;
@ -772,18 +792,53 @@ void msg_spec::emit_cpp_class(FILE *f, bool for_srv, const string &srv_name)
// add the internal functions
fprintf(f, "msg.md5sum_ = @%s_%s___md5sum;\n", g_pkg.c_str(), g_name.c_str());
if (server_md5sum.length())
if (server_md5sum.length()) {
fprintf(f, "msg.server_md5sum_ = @%s_%s___server_md5sum;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "msg.server_type_ = @%s_%s___server_type;\n", g_pkg.c_str(), g_name.c_str());
}
fprintf(f, "msg.type_ = @%s_%s___type;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "msg.serializationLength_ = @%s_%s___serializationLength;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "msg.serialize_ = @%s_%s___serialize;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "msg.deserialize_ = @%s_%s___deserialize;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "msg.message_definition_ = @%s_%s___message_definition;\n", g_pkg.c_str(), g_name.c_str());
fprintf(f, "\n");
fprintf(f, "function x = %s_%s___md5sum()\nx = '%s';\n\n", g_pkg.c_str(), g_name.c_str(), md5sum.c_str());
if (server_md5sum.length())
if (server_md5sum.length()) {
fprintf(f, "function x = %s_%s___server_md5sum()\nx = '%s';\n\n", g_pkg.c_str(), g_name.c_str(), server_md5sum.c_str());
fprintf(f, "function x = %s_%s___server_type()\nx = '%s';\n\n", g_pkg.c_str(), g_name.c_str(), service_datatype.c_str());
}
{
fprintf(f, "function x = %s_%s___message_definition()\nx = [", g_pkg.c_str(), g_name.c_str());
vector<string> definition_lines;
string_split(full_definition, definition_lines, "\n");
vector<string>::iterator it = definition_lines.begin();
vector<string>::iterator end = definition_lines.end();
for (; it != end; ++it) {
std::string& line = *it;
// Escape bare \ and "
size_t pos = line.find("\\");
while (pos != std::string::npos) {
line.insert(pos, "\\");
pos = line.find("\\", pos + 2);
}
pos = line.find("\"");
while (pos != std::string::npos) {
line.insert(pos, "\\");
pos = line.find("\"", pos + 2);
}
fprintf(f, " '%s\\n' ...\n", line.c_str());
}
fprintf(f, "];\n\n");
}
fprintf(f, "function x = %s_%s___type()\nx = '%s/%s';\n\n",
g_pkg.c_str(), g_name.c_str(), g_pkg.c_str(),