static int emit_header(lcmgen_t *lcm, lcm_struct_t *ls)
{
start_file("_new");
// define the class
emit(0, "function S = %s_new()", sn);
emit(1, "S = struct(...");
// data members
int const members = g_ptr_array_size(ls->members);
for (unsigned int mx = 0; mx < members; mx++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, mx);
char* lm_tnc = dots_to_double_colons(lm->type->lctypename);
emit_start(2, "'%s', ", lm->membername);
int const dimensions = g_ptr_array_size(lm->dimensions);
int const primitive = lcm_is_primitive_type(lm->type->lctypename);
if (0 == dimensions) {
emit_continue("%s%s", map_type_name(lm_tnc) , primitive ? "(0)" : "_new()");
} else {
emit_continue("repmat( %s%s, [", map_type_name(lm_tnc), primitive ? "(0)" : "_new()");
for (int dx = 0; dx < dimensions - 1; ++dx) {
lcm_dimension_t *dim = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, dx);
emit_continue("%s, ", dim->size);
}
lcm_dimension_t *dim = (lcm_dimension_t*) g_ptr_array_index(lm->dimensions, dimensions - 1);
emit_continue("%s%s] )", dim->size, dimensions == 1 ? ", 1" : "");
}
emit_end("%s", (members == mx + 1 ? " );" : ",..."));
}
emit(0, "%%endfunction");
emit(0, "");
// // constants TODO
// 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));
//
// const char *suffix = "";
// if (!strcmp(lc->lctypename, "int64_t"))
// suffix = "LL";
// char const * 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(9, "};");
//
// free(tn_);
end_file();
}
static int emit_encoded_size_nohash(lcmgen_t *lcm, lcm_struct_t *ls)
{
start_file("_encodedSize_nohash");
emit(0, "function s = %s_encodedSize_nohash(S)", sn);
emit(1, "s = uint32(0);");
for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
char* lm_tnc = dots_to_double_colons(lm->type->lctypename);
int const encsize = encoded_size(lm_tnc);
int const dimensions = g_ptr_array_size(lm->dimensions);
if (encsize > -1) {//known constant size
emit_start(1, "s = s + %d", encsize);
for (int dx = 0; dx < dimensions; ++dx) {
lcm_dimension_t *dim = (lcm_dimension_t*) g_ptr_array_index(lm->dimensions, dx);
emit_continue(" * %s", dim->size);
}
emit_end(";");
}
else {
if (0 == dimensions) {
emit(1, "s = s + %s_encodedSize_nohash(S.%s);", map_type_name(lm_tnc), lm->membername);
}
else {
//emit: for each dimension
for (int dx = 0; dx < dimensions; ++dx) {
lcm_dimension_t *dim = (lcm_dimension_t*) g_ptr_array_index(lm->dimensions, dx);
emit(1 + dx, "for dx%d = 1:%s", dx, dim->size);
}
{//do
emit_start(1 + dimensions, "s = s + %s_encodedSize_nohash(S.%s(", map_type_name(lm_tnc), lm->membername);
for (int dx = 0; dx < dimensions - 1; ++dx) {
emit_continue("dx%d,", dx);
}
emit_end("dx%d));", dimensions - 1);
}
//end
for (int dx = dimensions; dx > 0; --dx) {
emit(dx, "end");
}
}
}
free(lm_tnc);
}
emit(0, "%%endfunction");
emit(0, "");
end_file();
}
static void emit_c_array_loops_start(lcmgen_t *lcm, FILE *f, lcm_member_t *lm, const char *n, int flags)
{
if (g_ptr_array_size(lm->dimensions) == 0)
return;
for (unsigned int i = 0; i < g_ptr_array_size(lm->dimensions) - 1; i++) {
char var = 'a' + i;
if (flags & FLAG_EMIT_MALLOCS) {
char stars[1000];
for (unsigned int s = 0; s < g_ptr_array_size(lm->dimensions) - 1 - i; s++) {
stars[s] = '*';
stars[s+1] = 0;
}
emit(2+i, "%s = (%s%s*) lcm_malloc(sizeof(%s%s) * %s);",
make_accessor(lm, n, i),
map_type_name(lm->type->lctypename),
stars,
map_type_name(lm->type->lctypename),
stars,
make_array_size(lm, n, i));
}
emit(2+i, "{ int %c;", var);
emit(2+i, "for (%c = 0; %c < %s; %c++) {", var, var, make_array_size(lm, "p", i), var);
}
if (flags & FLAG_EMIT_MALLOCS) {
emit(2 + g_ptr_array_size(lm->dimensions) - 1, "%s = (%s*) lcm_malloc(sizeof(%s) * %s);",
make_accessor(lm, n, g_ptr_array_size(lm->dimensions) - 1),
map_type_name(lm->type->lctypename),
map_type_name(lm->type->lctypename),
make_array_size(lm, n, g_ptr_array_size(lm->dimensions) - 1));
}
}
static int emit_decode_nohash(lcmgen_t *lcm, lcm_struct_t *ls)
{
start_file("_decode_nohash");
emit(0, "function [pos, S] = %s_decode_nohash(buf, pos, maxlen, S, elems)", sn);
emit(1, "for ix = 1:elems");
for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
char* lm_tnc = dots_to_double_colons(lm->type->lctypename);
int const dimensions = g_ptr_array_size(lm->dimensions);
if (0 == dimensions) {
emit(2, "[pos, t] = %s_decode_nohash(buf, pos, maxlen, S(ix).%s, 1);", map_type_name(lm_tnc), lm->membername);
emit(2, "S(ix).%s = t(1);", lm->membername);
}
else {
//emit: for each dimension
for (int dx = 0; dx < dimensions - 1; ++dx) {
lcm_dimension_t *dim = (lcm_dimension_t*) g_ptr_array_index(lm->dimensions, dx);
emit(2 + dx, "for dx%d = 1:%s", dx, dim->size);
}
{//do
emit_start(1 + (dimensions > 1 ? dimensions : 1), "[pos, t] = %s_decode_nohash(buf, pos, maxlen, S(ix).%s(", map_type_name(lm_tnc), lm->membername);
for (int dx = 0; dx < dimensions - 1; ++dx) {
emit_continue("dx%d,", dx);
}
lcm_dimension_t *dim = (lcm_dimension_t*) g_ptr_array_index(lm->dimensions, dimensions - 1);
emit_end(":), %s);", dim->size);
emit_start(1 + (dimensions > 1 ? dimensions : 1), "S(ix).%s(", lm->membername);
for (int dx = 0; dx < dimensions - 1; ++dx) {
emit_continue("dx%d,", dx);
}
emit_end(":) = t(1:%s);", dim->size);
}
//end
for (int dx = dimensions - 1; dx > 0; --dx) {
emit(1 + dx, "end");
}
}
free(lm_tnc);
}
emit(1, "end");
emit(0, "%%endfunction");
end_file();
}
static void emit_init_test(lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
const char *sn = ls->structname->shortname;
emit(0, "bool %s::initTestObject()", sn);
emit(0, "{");
if(0 == g_ptr_array_size(ls->members)) {
emit(1, "return true;");
emit(0,"}");
emit(0,"");
return;
}
// For each member
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);
char const* mapped_typename = map_type_name(lm->type->lctypename);
char const* typeInitValue = init_test_value(mapped_typename);
char * valueAssignment;
// For non-primitive types, simply call object's init function
if ( ! lcm_is_primitive_type(lm->type->lctypename) ) {
valueAssignment = strdup(".initTestObject();");
}
else {
valueAssignment = g_strdup_printf(" = %s;", typeInitValue);
}
int ndim = g_ptr_array_size(lm->dimensions);
if (0==ndim) {
emit(1, "%s%s", lm->membername, valueAssignment);
free (valueAssignment);
}
else {
// Check if it's a dynamic array, in which case we ignore it at the moment.
uint8_t isDynamic=0;
for (int dim=0; dim < ndim; ++dim) {
lcm_dimension_t *ld = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, dim);
if (!is_dim_size_fixed(ld->size)) {
isDynamic=1;
break;
}
}
if (!isDynamic) {
// Set first component in array
emit_start(1, "%s", lm->membername);
for (int dim=0; dim < ndim; ++dim) {
emit_continue("[0]");
}
emit_end("%s", valueAssignment);
// Set last component in array
emit_start(1, "%s", lm->membername);
for (int dim=0; dim < ndim; ++dim) {
lcm_dimension_t *ld = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, dim);
emit_continue("[%i]", atoi(ld->size)-1);
}
emit_end("%s", valueAssignment);
}
else {
emit(1, "//%s is a dynamic array", lm->membername);
}
g_free (valueAssignment);
free((char*)mapped_typename);
free((char*)typeInitValue);
}
}
emit(0, "");
emit(1, "return true;");
emit(0,"}");
emit(0,"");
}
/** 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 output specific to a particular type of struct. **/
static void emit_header_struct(lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
char *tn = ls->structname->lctypename;
char *tn_ = dots_to_underscores(tn);
char *tn_upper = g_utf8_strup(tn_, -1);
// include header files required by members
for (unsigned int i = 0; i < g_ptr_array_size(ls->members); i++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, i);
if (!lcm_is_primitive_type(lm->type->lctypename) &&
strcmp(lm->type->lctypename, ls->structname->lctypename)) {
char *other_tn = dots_to_underscores (lm->type->lctypename);
fprintf(f, "#include \"%s%s%s.h\"\n",
getopt_get_string(lcm->gopt, "cinclude"),
strlen(getopt_get_string(lcm->gopt, "cinclude"))>0 ? "/" : "",
other_tn);
free (other_tn);
}
}
// output constants
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));
const char *suffix = "";
if (!strcmp(lc->lctypename, "int64_t")) {
suffix = "LL";
}
emit_comment(f, 0, lc->comment);
emit(0, "#define %s_%s %s%s", tn_upper, lc->membername, lc->val_str,
suffix);
}
if (g_ptr_array_size(ls->constants) > 0) {
emit(0, "");
}
// define the struct
emit_comment(f, 0, ls->comment);
emit(0, "typedef struct _%s %s;", tn_, tn_);
emit(0, "struct _%s", tn_);
emit(0, "{");
for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
emit_comment(f, 1, lm->comment);
int ndim = g_ptr_array_size(lm->dimensions);
if (ndim == 0) {
emit(1, "%-10s %s;", map_type_name(lm->type->lctypename),
lm->membername);
} else {
if (lcm_is_constant_size_array(lm)) {
emit_start(1, "%-10s %s", map_type_name(lm->type->lctypename), 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(1, "%-10s ", map_type_name(lm->type->lctypename));
for (unsigned int d = 0; d < ndim; d++)
emit_continue("*");
emit_end("%s;", lm->membername);
}
}
}
emit(0, "};");
emit(0, "");
free(tn_);
g_free(tn_upper);
}
/** 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_);
}
