/** Emit header file **/
static void emit_header_start(lcmgen_t *lcmgen, FILE *f, lcm_struct_t *ls)
{
char *tn = ls->structname->lctypename;
char *sn = ls->structname->shortname;
char *tn_ = dots_to_underscores(tn);
emit_auto_generated_warning(f);
fprintf(f, "#include <lcm/lcm_coretypes.h>\n");
fprintf(f, "\n");
fprintf(f, "#ifndef __%s_hpp__\n", tn_);
fprintf(f, "#define __%s_hpp__\n", tn_);
fprintf(f, "\n");
// do we need to #include <vector> ?
int emit_include_vector = 0;
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *)g_ptr_array_index(ls->members, mind);
if (g_ptr_array_size(lm->dimensions) != 0 &&
!lcm_is_constant_size_array(lm) && !emit_include_vector) {
emit(0, "#include <vector>");
emit_include_vector = 1;
}
}
emit(0, "#include <cmath>\t// For fabs to compare floats");
emit(0, "#include <string>\t// For return type of toStr()");
emit(0, "#include <sstream>\t// For stringstream in toStr()");
// include header files for other LCM types
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, mind);
if (!lcm_is_primitive_type(lm->type->lctypename) &&
strcmp(lm->type->lctypename, ls->structname->lctypename)) {
char *other_tn = dots_to_slashes (lm->type->lctypename);
emit(0, "#include \"%s%s%s.hpp\"",
getopt_get_string(lcmgen->gopt, "cpp-include"),
strlen(getopt_get_string(lcmgen->gopt, "cpp-include"))>0 ? G_DIR_SEPARATOR_S : "",
other_tn);
free(other_tn);
}
}
fprintf(f, "\n");
emit_package_namespace_start(lcmgen, f, ls);
// define the class
emit(0, "");
emit_comment(f, 0, ls->comment);
emit(0, "class %s", sn);
emit(0, "{");
// data members
if(g_ptr_array_size(ls->members)) {
emit(1, "public:");
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, mind);
emit_comment(f, 2, lm->comment);
char const* mapped_typename = map_type_name(lm->type->lctypename);
int ndim = g_ptr_array_size(lm->dimensions);
if (ndim == 0) {
emit(2, "%-10s %s;", mapped_typename, lm->membername);
} else {
if (lcm_is_constant_size_array(lm)) {
emit_start(2, "%-10s %s", mapped_typename, lm->membername);
for (unsigned int d = 0; d < ndim; d++) {
lcm_dimension_t *ld = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, d);
emit_continue("[%s]", ld->size);
}
emit_end(";");
} else {
emit_start(2, "");
for (unsigned int d = 0; d < ndim; d++)
emit_continue("std::vector< ");
emit_continue("%s", mapped_typename);
for (unsigned int d = 0; d < ndim; d++)
emit_continue(" >");
emit_end(" %s;", lm->membername);
}
}
if (mind < g_ptr_array_size(ls->members) - 1) {
emit(0, "");
}
}
emit(0, "");
}
// constants
if (g_ptr_array_size(ls->constants) > 0) {
emit(1, "public:");
for (unsigned int i = 0; i < g_ptr_array_size(ls->constants); i++) {
lcm_constant_t *lc = (lcm_constant_t *) g_ptr_array_index(ls->constants, i);
assert(lcm_is_legal_const_type(lc->lctypename));
emit_comment(f, 2, lc->comment);
// For int32_t only, we emit enums instead of static const
// values because the former can be passed by reference while
// the latter cannot.
if (!strcmp(lc->lctypename, "int32_t")) {
emit(2, "enum { %s = %s };", lc->membername, lc->val_str);
} else {
const char *suffix = "";
if (!strcmp(lc->lctypename, "int64_t"))
suffix = "LL";
char const* mapped_typename = map_type_name(lc->lctypename);
char *cpp_std = getopt_get_string(lcmgen->gopt, "cpp-std");
if(strcmp("c++98",cpp_std) && strcmp("c++11",cpp_std)) {
printf("%s is not a valid cpp_std. Use --cpp-std=c++98 or --cpp-std=c++11 instead\n\n", cpp_std);
fflush(stdout);
_exit(1);
}
if(!strcmp (cpp_std, "c++11")) {
emit(2, "static constexpr %-8s %s = %s%s;", mapped_typename,
lc->membername, lc->val_str, suffix);
} else {
emit(2, "// If you're using C++11 and are getting compiler errors saying things like");
emit(2, "// ‘constexpr’ needed for in-class initialization of static data member");
emit(2, "// then re-run lcm-gen with '--cpp-std=c++11' to generate code that is");
emit(2, "// compliant with C++11");
emit(2, "static const %-8s %s = %s%s;", mapped_typename,
lc->membername, lc->val_str, suffix);
}
}
}
emit(0, "");
}
emit(1, "public:");
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, " * Compare two instances of the same type.");
emit(2, " *");
emit(2, " * @param[in] other The object to compare.");
emit(2, " * @return true if all elements are equal, false otherwise.");
emit(2, " */");
emit(2, "inline bool operator==(%s const & other) const;", sn);
emit(0, "");
emit(2, "/**");
emit(2, " * Construct a string from the object for debugging purposes.");
emit(2, " * Note that arrays are cropped for readability. Only the first and last elements are shown.");
emit(2, " *");
emit(2, " * @param[in] layout A placeholder for the tree structure.");
emit(2, " */");
emit(2, "inline std::string toDebugStr(std::string const & layout=\"|-\") const;");
emit(0, "");
emit(2, "/**");
emit(2, " * Initialize all values of a test object to pre-defined values.");
emit(2, " * The values used are much more informative than using 0 because");
emit(2, " * they are type-dependant. This way, the user knows directly whether");
emit(2, " * the type is correct or not. Typically the default values are the");
emit(2, " * maximum value allowed by the type minus 5, and 1.0 for float and double.");
emit(2, " * Note that for arrays only the first and last elements are considered.");
emit(2, " *");
emit(2, " * @return success.");
emit(2, " */");
emit(2, "inline bool initTestObject();");
emit(0, "");
emit(2, "/**");
emit(2, " * Increment every variable in the object.");
emit(2, " * Works well with initTestObject() and compareTestObject().");
emit(2, " * Note that for arrays only the first and last elements are considered.");
emit(2, " *");
emit(2, " * @return success.");
emit(2, " */");
emit(2, "inline bool incTestObject();");
emit(0, "");
emit(2, "/**");
emit(2, " * Compare two instances of the same type.");
emit(2, " * Works well with initTestObject() and incTestObject().");
emit(2, " * Note that for arrays only the first and last elements are considered.");
emit(2, " *");
emit(2, " * @param[in] other The object to compare.");
emit(2, " * @return true if all elements are equal, false otherwise.");
emit(2, " */");
emit(2, "inline bool compareTestObject(%s const & other) const;", sn);
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);
emit(2, " */");
emit(2, "inline static const char* getTypeName();");
emit(0, "");
emit(2, "// LCM 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 __lcm_hash_ptr *p);");
emit(0, "};");
emit(0, "");
free(tn_);
}
/** Emit header file **/
static void emit_header_start(lcmgen_t *lcmgen, FILE *f, lcm_struct_t *ls)
{
char *tn = ls->structname->lctypename;
char *sn = ls->structname->shortname;
char *tn_ = dots_to_underscores(tn);
emit_auto_generated_warning(f);
fprintf(f, "#include <lcm/lcm_coretypes.h>\n");
fprintf(f, "\n");
fprintf(f, "#ifndef __%s_hpp__\n", tn_);
fprintf(f, "#define __%s_hpp__\n", tn_);
fprintf(f, "\n");
// do we need to #include <vector> and/or <string>?
int emit_include_vector = 0;
int emit_include_string = 0;
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *)g_ptr_array_index(ls->members, mind);
if (g_ptr_array_size(lm->dimensions) != 0 &&
!lcm_is_constant_size_array(lm) && !emit_include_vector) {
emit(0, "#include <vector>");
emit_include_vector = 1;
}
if(!emit_include_string &&
!strcmp(lm->type->lctypename, "string")) {
emit(0, "#include <string>");
emit_include_string = 1;
}
}
// include header files for other LCM types
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, mind);
if (!lcm_is_primitive_type(lm->type->lctypename) &&
strcmp(lm->type->lctypename, ls->structname->lctypename)) {
char *other_tn = dots_to_slashes (lm->type->lctypename);
emit(0, "#include \"%s%s%s.hpp\"",
getopt_get_string(lcmgen->gopt, "cpp-include"),
strlen(getopt_get_string(lcmgen->gopt, "cpp-include"))>0 ? G_DIR_SEPARATOR_S : "",
other_tn);
free(other_tn);
}
}
fprintf(f, "\n");
emit_package_namespace_start(lcmgen, f, ls);
// define the class
emit(0, "");
emit_comment(f, 0, ls->comment);
emit(0, "class %s", sn);
emit(0, "{");
// data members
if(g_ptr_array_size(ls->members)) {
emit(1, "public:");
for (unsigned int mind = 0; mind < g_ptr_array_size(ls->members); mind++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, mind);
emit_comment(f, 2, lm->comment);
char* mapped_typename = map_type_name(lm->type->lctypename);
int ndim = g_ptr_array_size(lm->dimensions);
if (ndim == 0) {
emit(2, "%-10s %s;", mapped_typename, lm->membername);
} else {
if (lcm_is_constant_size_array(lm)) {
emit_start(2, "%-10s %s", mapped_typename, lm->membername);
for (unsigned int d = 0; d < ndim; d++) {
lcm_dimension_t *ld = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, d);
emit_continue("[%s]", ld->size);
}
emit_end(";");
} else {
emit_start(2, "");
for (unsigned int d = 0; d < ndim; d++)
emit_continue("std::vector< ");
emit_continue("%s", mapped_typename);
for (unsigned int d = 0; d < ndim; d++)
emit_continue(" >");
emit_end(" %s;", lm->membername);
}
}
free(mapped_typename);
if (mind < g_ptr_array_size(ls->members) - 1) {
emit(0, "");
}
}
emit(0, "");
}
// constants
if (g_ptr_array_size(ls->constants) > 0) {
emit(1, "public:");
for (unsigned int i = 0; i < g_ptr_array_size(ls->constants); i++) {
lcm_constant_t *lc = (lcm_constant_t *) g_ptr_array_index(ls->constants, i);
assert(lcm_is_legal_const_type(lc->lctypename));
emit_comment(f, 2, lc->comment);
// For int32_t only, we emit enums instead of static const
// values because the former can be passed by reference while
// the latter cannot.
if (!strcmp(lc->lctypename, "int32_t")) {
emit(2, "enum { %s = %s };", lc->membername, lc->val_str);
} else {
const char *suffix = "";
if (!strcmp(lc->lctypename, "int64_t"))
suffix = "LL";
char* mapped_typename = map_type_name(lc->lctypename);
emit(2, "static const %-8s %s = %s%s;", mapped_typename,
lc->membername, lc->val_str, suffix);
free(mapped_typename);
}
}
emit(0, "");
}
emit(1, "public:");
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);
emit(2, " */");
emit(2, "inline static const char* getTypeName();");
emit(0, "");
emit(2, "// LCM 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 int64_t _computeHash(const __lcm_hash_ptr *p);");
emit(0, "};");
emit(0, "");
free(tn_);
}
