| begin |
| require "sha1" |
| rescue LoadError |
| require "digest/sha1" |
| end |
| |
| class Target::StructBase < Target::Node |
| def create_DoGetType(type_class, cpp_tree) |
| member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","DoGetType") |
| member_func.static = true |
| fields = [] |
| register_members = [] |
| @members.each do |member| |
| tId = member.getTypeID() |
| fieldName = member.name.inspect |
| if(member.respond_to?(:add_TypeRegister)) |
| register_members.push(member) |
| end |
| fields << "new ::aos::MessageType::Field{#{tId}, #{member.respond_to?(:length) ? member.length : 0}, #{fieldName}}" |
| end |
| register_members.uniq do |member| |
| member.type |
| end.each do |member| |
| member.add_TypeRegister(cpp_tree, type_class, member_func) |
| end |
| id = getTypeID() |
| member_func.suite << ("static const ::aos::MessageType kMsgMessageType(#{type_class.parent_class ? type_class.parent_class + '::Size()' : 0}, #{id}, #{(@loc.respond_to?(:queue_name) ? @loc.queue_name(@name) : "#{@loc.get_name()}.#{@name}").inspect}, {" + |
| "#{fields.join(", ")}})"); |
| type_class.add_member(member_func) |
| member_func.suite << "::aos::type_cache::Add(kMsgMessageType)" |
| member_func.suite << CPP::Return.new("&kMsgMessageType") |
| end |
| def create_InOrderConstructor(type_class, cpp_tree) |
| if @members.empty? |
| return |
| end |
| cons = CPP::Constructor.new(type_class) |
| type_class.add_member(cons) |
| @members.each do |member| |
| if member.respond_to?(:type_name) |
| type_name = "#{member.type_name(cpp_tree)} #{member.name}_in" |
| else |
| type_name = member.create_usage(cpp_tree, "#{member.name}_in") |
| end |
| |
| cons.args << type_name |
| cons.add_cons(member.name, member.name + '_in') |
| end |
| end |
| def create_DefaultConstructor(type_class, cpp_tree) |
| cons = CPP::Constructor.new(type_class) |
| type_class.add_member(cons) |
| cons.add_cons(type_class.parent_class) if type_class.parent_class |
| cons.suite << CPP::FuncCall.build('Zero') |
| end |
| def create_Zero(type_class,cpp_tree) |
| member_func = CPP::MemberFunc.new(type_class,"void","Zero") |
| type_class.add_member(member_func) |
| @members.each do |elem| |
| elem.zeroCall(member_func.suite) |
| end |
| member_func.suite << CPP::FuncCall.new(type_class.parent_class + '::Zero') if type_class.parent_class |
| 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) |
| size = 0 |
| @members.each do |elem| |
| size += elem.size |
| end |
| if type_class.parent_class |
| member_func.suite << CPP::Return.new(CPP::Add.new(size, |
| "#{type_class.parent_class}::Size()")) |
| else |
| member_func.suite << CPP::Return.new(size) |
| end |
| end |
| def create_Serialize(type_class,cpp_tree) |
| member_func = CPP::MemberFunc.new(type_class,"size_t","Serialize") |
| type_class.add_member(member_func) |
| member_func.args << "char *buffer" |
| member_func.suite << "#{type_class.parent_class}::Serialize(buffer)" if type_class.parent_class |
| member_func.const = true |
| offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0' |
| @members.each do |elem| |
| elem.toNetwork(offset,member_func.suite) |
| offset += " + #{elem.size}"; |
| end |
| member_func.suite << CPP::Return.new(CPP::FuncCall.new('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) |
| member_func.args << "const char *buffer" |
| member_func.suite << "#{type_class.parent_class}::Deserialize(buffer)" if type_class.parent_class |
| offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0' |
| @members.each do |elem| |
| elem.toHost(offset,member_func.suite) |
| offset += " + #{elem.size}"; |
| end |
| member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size')) |
| end |
| def create_EqualsNoTime(type_class,cpp_tree) |
| member_func = CPP::MemberFunc.new(type_class,"bool","EqualsNoTime") |
| member_func.const = true |
| type_class.add_member(member_func) |
| member_func.args << "const #{type_class.name} &other" |
| member_func.suite << "if (!#{type_class.parent_class}::EqualsNoTime(other)) return false;" if type_class.parent_class |
| @members.each do |elem| |
| if elem.respond_to? :create_EqualsNoTime |
| member_func.suite << "if (!other.#{elem.name}.EqualsNoTime(#{elem.name})) return false;" |
| elsif elem.respond_to?(:length) && elem.member_type.respond_to?(:create_EqualsNoTime) |
| 0.upto(elem.length - 1) do |i| |
| member_func.suite << "if (!other.#{elem.name}[#{i}].EqualsNoTime(#{elem.name}[#{i}])) return false;" |
| end |
| else |
| member_func.suite << "if (other.#{elem.name} != #{elem.name}) return false;" |
| end |
| end |
| member_func.suite << CPP::Return.new('true') |
| end |
| def simpleStr() |
| return "{\n" + @members.collect() { |elem| elem.simpleStr() + "\n"}.join("") + "}" |
| end |
| def getTypeID() |
| return "0x" + (((Digest::SHA1.hexdigest(simpleStr())[0..3].to_i(16)) << 16) | size).to_s(16) |
| end |
| def add_member(member) |
| @members << member |
| end |
| def size() |
| return @size if(@size) |
| @size = 0 |
| @members.each do |elem| |
| @size += elem.size |
| end |
| return @size |
| end |
| end |
| |
| class Target::MessageDec < Target::StructBase |
| 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 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() |
| elem.fetchPrintArgs(args) |
| 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" |
| if !args.empty? |
| member_func.suite << "return super_size + snprintf(buffer, length, " + ([format] + args).join(", ") + ")"; |
| else |
| # snprintf will return zero. |
| member_func.suite << "return super_size" |
| end |
| end |
| def create_GetType(type_class, cpp_tree) |
| member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType") |
| type_class.add_member(member_func) |
| member_func.static = true |
| member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)" |
| member_func.suite << CPP::Return.new("getter.Get()") |
| 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 = self.simpleStr() |
| self.msg_hash = "0x#{Digest::SHA1.hexdigest(ts)[-8..-1]}" |
| type_class.add_member("enum {kQueueLength = 100, 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) |
| create_GetType(type_class, cpp_tree) |
| create_DoGetType(type_class, cpp_tree) |
| create_DefaultConstructor(type_class, cpp_tree) |
| create_InOrderConstructor(type_class, cpp_tree) |
| create_EqualsNoTime(type_class, cpp_tree) |
| |
| b_namespace = cpp_tree.get(b_loc = self.class.builder_loc(@loc)) |
| |
| template = b_namespace.add_template("MessageBuilder") |
| template.spec_args << t = @loc.to_cpp_id(@name) |
| msg_ptr_t = "ScopedMessagePtr< #{t}>" |
| msg_bld_t = "MessageBuilder< #{t}>" |
| template.add_member(:private,"#{msg_ptr_t} msg_ptr_") |
| template.add_member(:private,"#{msg_bld_t}(const #{msg_bld_t}&)") |
| template.add_member(:private,"void operator=(const #{msg_bld_t}&)") |
| template.add_member(:private,"friend class ::aos::Queue< #{t}>") |
| |
| cons = CPP::Constructor.new(template) |
| template.add_member(:private,cons) |
| cons.args << "RawQueue *queue" |
| cons.args << "#{t} *msg" |
| cons.add_cons("msg_ptr_","queue","msg") |
| template.public |
| DefineMembers(cpp_tree, template, msg_bld_t) |
| 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 |
| end |
| class Target::MessageElement < Target::Node |
| attr_accessor :name,:loc,:size,:zero,:type,:printformat |
| def initialize(type,name) |
| @type,@name = type,name |
| end |
| def type() |
| return @type |
| end |
| def type_name(cpp_tree) |
| return type() |
| end |
| def toPrintFormat() |
| return printformat |
| end |
| def create_usage(cpp_tree, this_name=nil) |
| if (this_name == nil) |
| this_name = @name |
| end |
| "#{@type} #{this_name}" |
| end |
| def toNetwork(offset,suite, parent = "", this_name=nil) |
| if (this_name == nil) |
| this_name = @name |
| end |
| suite << f_call = CPP::FuncCall.build("to_network", |
| "&#{parent}#{this_name}", |
| "&buffer[#{offset}]") |
| f_call.args.dont_wrap = true |
| end |
| def toHost(offset,suite, parent = "", this_name=nil) |
| if (this_name == nil) |
| this_name = @name |
| end |
| suite << f_call = CPP::FuncCall.build("to_host", |
| "&buffer[#{offset}]", |
| "&#{parent}#{this_name}") |
| f_call.args.dont_wrap = true |
| end |
| def getTypeID() |
| '0x' + ((Digest::SHA1.hexdigest(@type)[0..3].to_i(16) << 16) | |
| 0x2000 | # marks it as primitive |
| size).to_s(16) |
| end |
| def simpleStr() |
| "#{@type} #{@name}" |
| end |
| def set_message_builder(suite, this_name=nil) |
| this_name ||= @name |
| suite << "msg_ptr_->#{this_name} = #{this_name}" |
| end |
| |
| def zeroCall(suite, parent = "", this_name=nil) |
| if (this_name == nil) |
| this_name = @name |
| end |
| suite << CPP::Assign.new(parent + this_name,@zero) |
| end |
| def fetchPrintArgs(args, parent = "", this_name=nil) |
| if (this_name == nil) |
| this_name = @name |
| end |
| if (@type == 'bool') |
| args.push("#{parent}#{this_name} ? 'T' : 'f'") |
| elsif (@type == '::aos::monotonic_clock::time_point') |
| args.push(["AOS_TIME_ARGS(static_cast<int32_t>(", |
| "::std::chrono::duration_cast<::std::chrono::seconds>(", |
| "#{parent}#{this_name}.time_since_epoch()).count()), ", |
| "static_cast<uint32_t>(::std::chrono::duration_cast<::std::chrono::nanoseconds>(", |
| "#{parent}#{this_name}.time_since_epoch() - ", |
| "::std::chrono::duration_cast<::std::chrono::seconds>(", |
| "#{parent}#{this_name}.time_since_epoch())).count()))"].join('')) |
| else |
| args.push("#{parent}#{this_name}") |
| end |
| end |
| end |
| class Target::MessageArrayElement < Target::Node |
| attr_accessor :loc, :length |
| def initialize(type,length) |
| @type,@length = type,length |
| end |
| def zero() |
| return @type.zero() |
| end |
| def name() |
| return @type.name() |
| end |
| |
| def add_TypeRegister(*args) |
| if @type.respond_to?(:add_TypeRegister) |
| @type.add_TypeRegister(*args) |
| end |
| end |
| |
| def toPrintFormat() |
| return ([@type.toPrintFormat] * @length).join(", ") |
| end |
| def create_usage(cpp_tree, this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| return "::std::array< #{@type.type_name(cpp_tree)}, #{@length}> #{this_name}" |
| end |
| def type() |
| return "::std::array< #{@type.type()}, #{@length}>" |
| end |
| def member_type() |
| return @type |
| end |
| def simpleStr() |
| return "#{@type.type} #{@name}[#{@length}]" |
| end |
| def getTypeID() |
| return @type.getTypeID() |
| end |
| def size() |
| return @type.size * @length |
| end |
| def toNetwork(offset, suite, parent="", this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| offset = (offset == 0) ? "" : "#{offset} + " |
| for_loop_var = getForLoopVar() |
| suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++") |
| @type.toNetwork("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]") |
| end |
| def toHost(offset, suite, parent="", this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| offset = (offset == 0) ? "" : "#{offset} + " |
| for_loop_var = getForLoopVar() |
| suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++") |
| @type.toHost("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]") |
| end |
| def set_message_builder(suite, this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| |
| for_loop_var = getForLoopVar() |
| suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++") |
| @type.set_message_builder(for_stmt.suite, "#{this_name}[#{for_loop_var}]") |
| end |
| def zeroCall(suite, parent="", this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| |
| offset = (offset == 0) ? "" : "#{offset} + " |
| for_loop_var = getForLoopVar() |
| suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++") |
| @type.zeroCall(for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]") |
| end |
| def fetchPrintArgs(args, parent = "", this_name=nil) |
| if (this_name == nil) |
| this_name = name |
| end |
| for i in 0..(@length-1) |
| @type.fetchPrintArgs(args, parent, "#{this_name}[#{i}]") |
| end |
| end |
| end |