/** Print out the JSON exception information */
static int printJsonExceptionV(struct jsonException *exc, int noPrintFlags,
const char *fmt, va_list ap)
{
char *javaClassName = NULL;
int excErrno = EINTERNAL, shouldPrint = 0;
if (!exc) {
fprintf(stderr, "printJsonExceptionV: the jsonException is NULL\n");
return EINTERNAL;
}
javaClassName = strdup(exc->javaClassName);
if (!javaClassName) {
fprintf(stderr, "printJsonExceptionV: internal out of memory error\n");
return EINTERNAL;
}
dotsToSlashes(javaClassName);
getExceptionInfo(javaClassName, noPrintFlags, &excErrno, &shouldPrint);
free(javaClassName);
if (shouldPrint) {
vfprintf(stderr, fmt, ap);
fprintf(stderr, " error:\n");
fprintf(stderr, "Exception: %s\nJavaClassName: %s\nMessage: %s\n",
exc->exception, exc->javaClassName, exc->message);
}
free(exc);
return excErrno;
}
int emitCpp(ZCMGen& zcm)
{
// iterate through all defined message types
for (auto& ls : zcm.structs) {
string tn = dotsToSlashes(ls.structname.fullname);
// compute the target filename
string hpath = zcm.gopt->getString("cpp-hpath");
string headerName = hpath + (hpath.size() > 0 ? "/" : ":") + tn +".hpp";
// generate code if needed
if (zcm.needsGeneration(ls.zcmfile, headerName)) {
FileUtil::makeDirsForFile(headerName);
Emit E{zcm, ls, headerName};
if (!E.good())
return -1;
E.emitHeader();
}
}
return 0;
}
void emitHeaderStart()
{
const char *tn = ls.structname.fullname.c_str();
const char *sn = ls.structname.shortname.c_str();
string tnDots = dotsToUnderscores(ls.structname.fullname);
const char *tn_ = tnDots.c_str();
emitAutoGeneratedWarning();
emit(0, "#include <zcm/zcm_coretypes.h>");
emit(0, "");
emit(0, "#ifndef __%s_hpp__", tn_);
emit(0, "#define __%s_hpp__", tn_);
emit(0, "");
// do we need to #include <vector> and/or <string>?
bool emitIncludeVector = false;
bool emitIncludeString = false;
for (auto& lm : ls.members) {
if (!emitIncludeVector &&
lm.dimensions.size() != 0 && !lm.isConstantSizeArray()) {
emit(0, "#include <vector>");
emitIncludeVector = true;
}
if (!emitIncludeString &&
lm.type.fullname == "string") {
emit(0, "#include <string>");
emitIncludeString = true;
}
}
// include header files for other ZCM types
for (auto& lm : ls.members) {
auto& mtn = lm.type.fullname;
if (!ZCMGen::isPrimitiveType(mtn) && mtn != tn) {
emit(0, "#include \"%s%s%s.hpp\"",
zcm.gopt->getString("cpp-include").c_str(),
zcm.gopt->getString("cpp-include").size()>0 ? "/":"",
dotsToSlashes(mtn).c_str());
}
}
emit(0, "\n");
emitPackageNamespaceStart();
// define the class
emitComment(0, ls.comment);
emit(0, "class %s", sn);
emit(0, "{");
// data members
if(ls.members.size() > 0) {
emit(1, "public:");
for (auto& lm : ls.members) {
auto& mtn = lm.type.fullname;
emitComment(2, lm.comment);
string mappedTypename = mapTypeName(mtn);
int ndim = (int)lm.dimensions.size();
if (ndim == 0) {
emit(2, "%-10s %s;", mappedTypename.c_str(), lm.membername.c_str());
} else {
if (lm.isConstantSizeArray()) {
emitStart(2, "%-10s %s", mappedTypename.c_str(), lm.membername.c_str());
for (auto& ld : lm.dimensions)
emitContinue("[%s]", ld.size.c_str());
emitEnd(";");
} else {
emitStart(2, "");
for (int d = 0; d < ndim; d++)
emitContinue("std::vector< ");
emitContinue("%s", mappedTypename.c_str());
for (int d = 0; d < ndim; d++)
emitContinue(" >");
emitEnd(" %s;", lm.membername.c_str());
}
}
emit(0, "");
}
}
// constants
if (ls.constants.size() > 0) {
emit(1, "public:");
emit(2, "#if __cplusplus > 199711L /* if c++11 */");
for (auto& lc : ls.constants) {
assert(ZCMGen::isLegalConstType(lc.type));
emitComment(2, lc.comment);
string mt = mapTypeName(lc.type);
const char *suffix = lc.type == "int64_t" ? "LL" : "";
emit(2, "static constexpr %-8s %s = %s%s;", mt.c_str(),
lc.membername.c_str(), lc.valstr.c_str(), suffix);
}
emit(2, "#else");
for (auto& lc : ls.constants) {
assert(ZCMGen::isLegalConstType(lc.type));
string mt = mapTypeName(lc.type);
const char *suffix = lc.type == "int64_t" ? "LL" : "";
emit(2, "static const %-8s %s = %s%s;", mt.c_str(),
lc.membername.c_str(), lc.valstr.c_str(), suffix);
}
emit(2, "#endif");
emit(0, "");
}
emit(1, "public:");
emit(2, "/**");
emit(2, " * Destructs a message properly if anything inherits from it");
emit(2, "*/");
emit(2, "virtual ~%s() {}", ls.structname.shortname.c_str());
emit(0, "");
emit(2, "/**");
emit(2, " * Encode a message into binary form.");
emit(2, " *");
emit(2, " * @param buf The output buffer.");
emit(2, " * @param offset Encoding starts at thie byte offset into @p buf.");
emit(2, " * @param maxlen Maximum number of bytes to write. This should generally be");
emit(2, " * equal to getEncodedSize().");
emit(2, " * @return The number of bytes encoded, or <0 on error.");
emit(2, " */");
emit(2, "inline int encode(void *buf, int offset, int maxlen) const;");
emit(0, "");
emit(2, "/**");
emit(2, " * Check how many bytes are required to encode this message.");
emit(2, " */");
emit(2, "inline int getEncodedSize() const;");
emit(0, "");
emit(2, "/**");
emit(2, " * Decode a message from binary form into this instance.");
emit(2, " *");
emit(2, " * @param buf The buffer containing the encoded message.");
emit(2, " * @param offset The byte offset into @p buf where the encoded message starts.");
emit(2, " * @param maxlen The maximum number of bytes to reqad while decoding.");
emit(2, " * @return The number of bytes decoded, or <0 if an error occured.");
emit(2, " */");
emit(2, "inline int decode(const void *buf, int offset, int maxlen);");
emit(0, "");
emit(2, "/**");
emit(2, " * Retrieve the 64-bit fingerprint identifying the structure of the message.");
emit(2, " * Note that the fingerprint is the same for all instances of the same");
emit(2, " * message type, and is a fingerprint on the message type definition, not on");
emit(2, " * the message contents.");
emit(2, " */");
emit(2, "inline static int64_t getHash();");
emit(0, "");
emit(2, "/**");
emit(2, " * Returns \"%s\"", ls.structname.shortname.c_str());
emit(2, " */");
emit(2, "inline static const char* getTypeName();");
emit(0, "");
emit(2, "// ZCM support functions. Users should not call these");
emit(2, "inline int _encodeNoHash(void *buf, int offset, int maxlen) const;");
emit(2, "inline int _getEncodedSizeNoHash() const;");
emit(2, "inline int _decodeNoHash(const void *buf, int offset, int maxlen);");
emit(2, "inline static uint64_t _computeHash(const __zcm_hash_ptr *p);");
emit(0, "};");
emit(0, "");
}
