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Add a utility for rigorously initializing a message instance (#448)
* Add a utility for rigorously initializing a message instance Signed-off-by: Michael X. Grey <[email protected]> * Add tests for the message building feature Signed-off-by: Michael X. Grey <[email protected]> * Use macros to reduce code bloat Signed-off-by: Michael X. Grey <[email protected]> * uncrustify Signed-off-by: Michael X. Grey <[email protected]> * move builder functionality into a completely separate header Signed-off-by: Dirk Thomas <[email protected]> * provide templated function <pkgname>::build<MsgType>() for builder pattern Signed-off-by: Dirk Thomas <[email protected]> * include the builder header by default Signed-off-by: Dirk Thomas <[email protected]> * inline template specialization Signed-off-by: Dirk Thomas <[email protected]> * fix clang warnings Signed-off-by: Dirk Thomas <[email protected]> * style Signed-off-by: Dirk Thomas <[email protected]> * special case for EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME Signed-off-by: Dirk Thomas <[email protected]> Co-authored-by: Dirk Thomas <[email protected]>
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‎rosidl_generator_cpp/CMakeLists.txt‎

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@@ -49,6 +49,10 @@ if(BUILD_TESTING)
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${rosidl_generator_c_INCLUDE_DIRS})
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ament_add_gtest(test_bounded_vector test/test_bounded_vector.cpp)
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ament_add_gtest(test_msg_builder test/test_msg_builder.cpp)
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if(TARGET test_msg_builder)
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add_dependencies(test_msg_builder ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_msg_initialization test/test_msg_initialization.cpp)
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if(TARGET test_msg_initialization)
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add_dependencies(test_msg_initialization ${PROJECT_NAME})

‎rosidl_generator_cpp/cmake/rosidl_generator_cpp_generate_interfaces.cmake‎

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@@ -22,6 +22,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
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list(APPEND _generated_headers
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"${_output_path}/${_parent_folder}/${_header_name}.hpp"
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"${_output_path}/${_parent_folder}/${_header_name}__builder.hpp"
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"${_output_path}/${_parent_folder}/${_header_name}__struct.hpp"
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"${_output_path}/${_parent_folder}/${_header_name}__traits.hpp"
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)
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set(target_dependencies
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"${rosidl_generator_cpp_BIN}"
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${rosidl_generator_cpp_GENERATOR_FILES}
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"${rosidl_generator_cpp_TEMPLATE_DIR}/action__builder.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/action__struct.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/action__traits.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/idl.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/idl__builder.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/idl__struct.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/idl__traits.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/msg__builder.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/msg__struct.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/msg__traits.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/srv__builder.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/srv__struct.hpp.em"
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"${rosidl_generator_cpp_TEMPLATE_DIR}/srv__traits.hpp.em"
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${rosidl_generate_interfaces_ABS_IDL_FILES}

‎rosidl_generator_cpp/resource/action__builder.hpp.em‎

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@# Included from rosidl_generator_cpp/resource/idl__builder.hpp.em
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=action.goal, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=action.result, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=action.feedback, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'srv__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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service=action.send_goal_service, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'srv__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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service=action.get_result_service, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=action.feedback_message, include_directives=include_directives)
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}@

‎rosidl_generator_cpp/resource/idl.hpp.em‎

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@@ -21,6 +21,7 @@ include_base = '/'.join(include_parts)
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#define @(header_guard_variable)
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#include "@(include_base)__struct.hpp"
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#include "@(include_base)__builder.hpp"
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#include "@(include_base)__traits.hpp"
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#endif // @(header_guard_variable)

‎rosidl_generator_cpp/resource/idl__builder.hpp.em‎

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// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
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// with input from @(package_name):@(interface_path)
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// generated code does not contain a copyright notice
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@
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@#######################################################################
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@# EmPy template for generating <idl>__builder.hpp files
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@#
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@# Context:
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@# - package_name (string)
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@# - interface_path (Path relative to the directory named after the package)
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@# - content (IdlContent, list of elements, e.g. Messages or Services)
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@#######################################################################
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@{
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from rosidl_cmake import convert_camel_case_to_lower_case_underscore
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include_parts = [package_name] + list(interface_path.parents[0].parts) + \
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[convert_camel_case_to_lower_case_underscore(interface_path.stem)]
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include_base = '/'.join(include_parts)
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header_guard_variable = '__'.join([x.upper() for x in include_parts]) + \
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'__BUILDER_HPP_'
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include_directives = set()
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}@
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#ifndef @(header_guard_variable)
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#define @(header_guard_variable)
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#include "@(include_base)__struct.hpp"
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#include <rosidl_generator_cpp/message_initialization.hpp>
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#include <algorithm>
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#include <utility>
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@#######################################################################
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@# Handle message
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@#######################################################################
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@{
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from rosidl_parser.definition import Message
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}@
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@[for message in content.get_elements_of_type(Message)]@
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=message, include_directives=include_directives)
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}@
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@[end for]@
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@
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@#######################################################################
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@# Handle service
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@#######################################################################
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@{
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from rosidl_parser.definition import Service
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}@
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@[for service in content.get_elements_of_type(Service)]@
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@{
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TEMPLATE(
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'srv__builder.hpp.em',
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package_name=package_name, interface_path=interface_path, service=service,
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include_directives=include_directives)
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}@
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@[end for]@
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@
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@#######################################################################
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@# Handle action
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@#######################################################################
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@{
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from rosidl_parser.definition import Action
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}@
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@[for action in content.get_elements_of_type(Action)]@
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@{
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TEMPLATE(
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'action__builder.hpp.em',
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package_name=package_name, interface_path=interface_path, action=action,
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include_directives=include_directives)
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}@
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@[end for]@
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#endif // @(header_guard_variable)

‎rosidl_generator_cpp/resource/msg__builder.hpp.em‎

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@# Included from rosidl_generator_cpp/resource/idl__builder.hpp.em
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@{
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from rosidl_parser.definition import EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME
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message_typename = '::'.join(message.structure.namespaced_type.namespaced_name())
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}@
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@[for ns in message.structure.namespaced_type.namespaces]@
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namespace @(ns)
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{
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@[end for]@
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@[if len(message.structure.members) != 1 or message.structure.members[0].name != EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME]@
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namespace builder
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{
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@[ for index in range(len(message.structure.members) - 1, -1, -1)]@
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@{
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field_name = message.structure.members[index].name
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if index < len(message.structure.members) - 1:
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next_field_name = message.structure.members[index + 1].name
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}@
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class Init_@(message.structure.namespaced_type.name)_@(field_name)
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{
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public:
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@
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@[ if index != 0]@
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explicit @
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@[ end if]@
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Init_@(message.structure.namespaced_type.name)_@(field_name)@
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@[ if index == 0]@
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()
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: msg_(::rosidl_generator_cpp::MessageInitialization::SKIP)
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@[ else]@
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(::@(message_typename) & msg)
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: msg_(msg)
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@[ end if]@
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{}
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@[ if index == len(message.structure.members) - 1]@
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::@(message_typename) @
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@[ else]@
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Init_@(message.structure.namespaced_type.name)_@(next_field_name) @
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@[ end if]@
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@(field_name)(::@(message_typename)::_@(field_name)_type arg)
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{
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msg_.@(field_name) = std::move(arg);
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@[ if index == len(message.structure.members) - 1]@
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return std::move(msg_);
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@[ else]@
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return Init_@(message.structure.namespaced_type.name)_@(next_field_name)(msg_);
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@[ end if]@
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}
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private:
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::@(message_typename) msg_;
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};
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@[ end for]@
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} // namespace builder
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@[end if]@
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@
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@[for i, ns in reversed(list(enumerate(message.structure.namespaced_type.namespaces)))]@
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@[ if i == 0]@
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template<typename MessageType>
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auto build();
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template<>
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inline
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auto build<::@(message_typename)>()
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{
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@[ if len(message.structure.members) == 1 and message.structure.members[0].name == EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME]@
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return ::@(message_typename)(rosidl_generator_cpp::MessageInitialization::ZERO);
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@[ else]@
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return @('::'.join(message.structure.namespaced_type.namespaces))::builder::Init_@(message.structure.namespaced_type.name)_@(message.structure.members[0].name)();
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@[ end if]@
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}
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@[ end if]@
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} // namespace @(ns)
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@[end for]@

‎rosidl_generator_cpp/resource/srv__builder.hpp.em‎

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@# Included from rosidl_generator_cpp/resource/idl__builder.hpp.em
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=service.request_message, include_directives=include_directives)
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}@
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@{
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TEMPLATE(
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'msg__builder.hpp.em',
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package_name=package_name, interface_path=interface_path,
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message=service.response_message, include_directives=include_directives)
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}@

‎rosidl_generator_cpp/rosidl_generator_cpp/__init__.py‎

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def generate_cpp(generator_arguments_file):
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mapping = {
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'idl.hpp.em': '%s.hpp',
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'idl__builder.hpp.em': '%s__builder.hpp',
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'idl__struct.hpp.em': '%s__struct.hpp',
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'idl__traits.hpp.em': '%s__traits.hpp',
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}

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