copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/aos/build/queues/output/message_dec.rb b/aos/build/queues/output/message_dec.rb
new file mode 100644
index 0000000..0e957be
--- /dev/null
+++ b/aos/build/queues/output/message_dec.rb
@@ -0,0 +1,277 @@
+require "sha1"
+class Target::MessageDec < Target::Node
+ attr_accessor :name,:loc,:parent,:msg_hash
+ def initialize(name)
+ @name = name
+ @members = []
+ end
+ def extern=(value)
+ @extern=value
+ end
+ def get_name()
+ if(@parent)
+ return "#{@parent.get_name}.#{@name}"
+ else
+ return "#{@name}"
+ end
+ end
+ def add_member(member)
+ @members << member
+ end
+ def create_Print(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Print")
+ type_class.add_member(member_func)
+ member_func.args << "char *buffer"
+ member_func.args << "size_t length"
+ member_func.const = true
+ format = "\""
+ args = []
+ @members.each do |elem|
+ format += ", "
+ format += elem.toPrintFormat()
+ if (elem.type == 'bool')
+ args.push("#{elem.name} ? 't' : 'f'")
+ else
+ args.push(elem.name)
+ end
+ end
+ format += "\""
+ member_func.suite << "size_t super_size = ::aos::Message::Print(buffer, length)"
+ member_func.suite << "buffer += super_size"
+ member_func.suite << "length -= super_size"
+ member_func.suite << "return super_size + snprintf(buffer, length, " + ([format] + args).join(", ") + ")";
+ end
+ def create_Serialize(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Serialize")
+ type_class.add_member(member_func)
+ #cpp_tree.cc_file.add_funct(member_func)
+ member_func.args << "char *buffer"
+ member_func.suite << "::aos::Message::Serialize(buffer)"
+ member_func.const = true
+ offset = 0
+ @members.each do |elem|
+ elem.toNetwork(offset,member_func.suite)
+ offset += elem.size;
+ end
+ member_func.suite << "return Size()"
+ end
+ def create_Deserialize(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Deserialize")
+ type_class.add_member(member_func)
+ #cpp_tree.cc_file.add_funct(member_func)
+ member_func.args << "const char *buffer"
+ member_func.suite << "::aos::Message::Deserialize(buffer)"
+ offset = 0
+ @members.each do |elem|
+ elem.toHost(offset,member_func.suite)
+ offset += elem.size;
+ end
+ member_func.suite << "return Size()"
+ end
+ def create_Zero(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"void","Zero")
+ type_class.add_member(member_func)
+ #cpp_tree.cc_file.add_funct(member_func)
+ @members.each do |elem|
+ elem.zeroCall(member_func.suite)
+ end
+ member_func.suite << "::aos::Message::Zero()"
+ end
+ def create_Size(type_class,cpp_tree)
+ member_func = CPP::MemberFunc.new(type_class,"size_t","Size")
+ member_func.inline = true
+ member_func.static = true
+ type_class.add_member(member_func.forward_dec)
+ #cpp_tree.cc_file.add_funct(member_func)
+ size = 0
+ @members.each do |elem|
+ size += elem.size
+ end
+ member_func.suite << CPP::Return.new(CPP::Add.new(size,
+ "::aos::Message::Size()"))
+ end
+ def self.builder_loc(loc)
+ return @builder_loc if(@builder_loc)
+ return @builder_loc = loc.root.get_make("aos")
+ end
+ def type_name(builder_loc,name)
+ if(builder_loc == @loc) #use relative name
+ return name
+ else #use full name
+ return @loc.to_cpp_id(name)
+ end
+ end
+ def create(cpp_tree)
+ return self if(@extern)
+ orig_namespace = namespace = cpp_tree.get(@loc)
+ name = ""
+ if(namespace.class < Types::Type) #is nested
+ name = namespace.name + "_" + name
+ namespace = namespace.space
+ end
+ type_class = namespace.add_struct(name + @name)
+ if(name.length > 0)
+ orig_namespace.add_member(:public, Types::TypeDef.new(type_class,@name))
+ end
+ cpp_tree.set(self,type_class)
+ type_class.set_parent("public ::aos::Message")
+ ts = (@members.collect { |elem|
+ elem.type + " " + elem.name
+ }).join(";")
+ self.msg_hash = "0x#{SHA1.hexdigest(ts)[-8..-1]}"
+ type_class.add_member("enum {kQueueLength = 1234, kHash = #{self.msg_hash}}")
+ @members.each do |elem|
+ type_class.add_member(elem.create_usage(cpp_tree))
+ end
+
+ create_Serialize(type_class,cpp_tree)
+ create_Deserialize(type_class,cpp_tree)
+ create_Zero(type_class,cpp_tree)
+ create_Size(type_class,cpp_tree)
+ create_Print(type_class,cpp_tree)
+
+ b_namespace = cpp_tree.get(b_loc = self.class.builder_loc(@loc))
+
+ safetemplate = Types::TemplateClass.new(b_namespace,"SafeMessageBuilder")
+ ifdef_statement = Types::PreprocessorIf.new(b_namespace,"!defined(__VXWORKS__) && !defined(__TEST_VXWORKS__)")
+ ifdef_statement.add_member(safetemplate)
+ b_namespace.add(ifdef_statement)
+ template = b_namespace.add_template("MessageBuilder")
+ safetemplate.spec_args << t = @loc.to_cpp_id(@name)
+ template.spec_args << t = @loc.to_cpp_id(@name)
+ safemsg_ptr_t = "SafeScopedMessagePtr< #{t}>"
+ msg_ptr_t = "ScopedMessagePtr< #{t}>"
+ safemsg_bld_t = "SafeMessageBuilder< #{t}>"
+ msg_bld_t = "MessageBuilder< #{t}>"
+ safetemplate.add_member(:private,"#{safemsg_ptr_t} msg_ptr_")
+ template.add_member(:private,"#{msg_ptr_t} msg_ptr_")
+ namespace.add_pre_swig("%feature(\"valuewrapper\") #{safemsg_bld_t}")
+ template.add_member(:private,"#{msg_bld_t}(const #{msg_bld_t}&)")
+ template.add_member(:private,"void operator=(const #{msg_bld_t}&)")
+ safetemplate.add_member(:private,"friend class ::aos::Queue< #{t}>")
+ template.add_member(:private,"friend class ::aos::Queue< #{t}>")
+
+ cons = CPP::Constructor.new(template)
+ unsafe_cons = CPP::Constructor.new(template)
+ cons_ifdef_statement = CPP::PreprocessorIf.new(cons, unsafe_cons)
+ cons_ifdef_statement.name = "!defined(__VXWORKS__) && !defined(__TEST_VXWORKS__)"
+ template.add_member(:private,cons_ifdef_statement)
+ cons.args << "aos_queue *queue"
+ cons.args << "#{t} *msg"
+ unsafe_cons.args << "#{t} *msg"
+ cons.add_cons("msg_ptr_","queue","msg")
+ unsafe_cons.add_cons("msg_ptr_","msg")
+ cons = safetemplate.add_member(:private,CPP::Constructor.new(safetemplate))
+ cons.args << "aos_queue *queue"
+ cons.add_cons("msg_ptr_","queue")
+ safetemplate.public
+ template.public
+ DefineMembers(cpp_tree, safetemplate, safemsg_bld_t)
+ DefineMembers(cpp_tree, template, msg_bld_t)
+
+ java_type_name = java_type_name(cpp_tree)
+ namespace.add_post_swig("%template(#{java_type_name}) ::aos::Queue< #{t}>")
+ namespace.add_post_swig("%template(#{java_ptr_name(cpp_tree)}) ::aos::SafeScopedMessagePtr< #{t}>")
+ namespace.add_post_swig("%template(#{java_builder_name(cpp_tree)}) ::aos::SafeMessageBuilder< #{t}>")
+ # TODO(aschuh): Figure out why this doesn't work and fix it.
+ #namespace.add_post_swig("%typemap(javabase) #{@name} \"aos.Message\"")
+
+ end
+ def DefineMembers(cpp_tree, template, msg_bld_t)
+ send = template.def_func("bool","Send")
+ send.suite << CPP::Return.new("msg_ptr_.Send()")
+ @members.each do |elem|
+=begin
+ MessageBuilder<frc971::control_loops::Drivetrain::Goal> &steering(
+ double steering) {
+ msg_ptr_->steering = steering;
+ return *this;
+ }
+=end
+ setter = template.def_func(msg_bld_t,"&#{elem.name}")
+ setter.args << elem.create_usage(cpp_tree)
+ elem.set_message_builder(setter.suite)
+ setter.suite << CPP::Return.new("*this")
+
+ end
+ end
+ def java_ptr_name(cpp_tree)
+ return "#{@name}MessagePtr"
+ end
+ def java_builder_name(cpp_tree)
+ return "#{@name}MessageBuilder"
+ end
+ def java_type_name(cpp_tree)
+ return "#{@name}Queue"
+ end
+end
+class Target::MessageElement < Target::Node
+ attr_accessor :name,:loc,:size,:zero,:type,:printformat
+ def initialize(type,name)
+ @type,@name = type,name
+ end
+ def toPrintFormat()
+ return printformat
+ end
+ def create_usage(cpp_tree)
+ "#{@type} #{@name}"
+ end
+ def toNetwork(offset,suite)
+ offset = (offset == 0) ? "" : "#{offset} + "
+ suite << f_call = CPP::FuncCall.build("to_network",
+ "&#{@name}",
+ "&buffer[#{offset}::aos::Message::Size()]")
+ f_call.args.dont_wrap = true
+ end
+ def toHost(offset,suite)
+ offset = (offset == 0) ? "" : "#{offset} + "
+ suite << f_call = CPP::FuncCall.build("to_host",
+ "&buffer[#{offset}::aos::Message::Size()]",
+ "&#{@name}")
+ f_call.args.dont_wrap = true
+ end
+ def set_message_builder(suite)
+ suite << "msg_ptr_->#{@name} = #{@name}"
+ end
+
+ def zeroCall(suite)
+ suite << CPP::Assign.new(@name,@zero)
+ end
+end
+class Target::MessageArrayElement < Target::Node
+ attr_accessor :name,:loc,:size,:zero,:type
+ def initialize(type,name,length)
+ @type,@name,@length = type,name,length
+ end
+ def create_usage(cpp_tree)
+ "#{@type} #{@name}[#@length]"
+ end
+ def type()
+ "#{@type}[#@length]"
+ end
+ def size()
+ @size * @length
+ end
+ def toNetwork(offset,suite)
+ offset = (offset == 0) ? "" : "#{offset} + "
+ suite << for_stmt = CPP::For.new("int i = 0","i < #{@length}","i++")
+ for_stmt.suite << f_call = CPP::FuncCall.build("to_network",
+ "&(#{@name}[i])",
+ "&buffer[i + #{offset}::aos::Message::Size()]")
+ f_call.args.dont_wrap = true
+ end
+ def toHost(offset,suite)
+ offset = (offset == 0) ? "" : "#{offset} + "
+ suite << for_stmt = CPP::For.new("int i = 0","i < #{@length}","i++")
+ for_stmt.suite << f_call = CPP::FuncCall.build("to_host",
+ "&buffer[i + #{offset}::aos::Message::Size()]",
+ "&(#{@name}[i])")
+ f_call.args.dont_wrap = true
+ end
+ def set_message_builder(suite)
+ suite << "memcpy(msg_ptr_->#{@name},#{@name},#@length)"
+ end
+ def zeroCall(suite)
+ suite << "memset(#@name,0,#{size()})"
+ end
+end