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Arrays of Strings

This commit is contained in:
Martin Dahl 2019-08-20 13:16:24 +02:00
parent 16a68ee51f
commit 8502a3a7d4
3 changed files with 38 additions and 31 deletions
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1
msg_gen/build.rs
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@ -59,6 +59,7 @@ fn main() {
// blacklist types that are handled by rcl bindings
.blacklist_type("rosidl_message_type_support_t")
.blacklist_type("rosidl_generator_c__String")
.blacklist_type("rosidl_generator_c__String__Sequence")
.blacklist_type("rosidl_generator_c__double__Sequence") // etc...
.default_enum_style(bindgen::EnumVariation::Rust { non_exhaustive: false } );

35
msg_gen/src/lib.rs
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@ -14,25 +14,6 @@ use rcl::*;
use std::ffi::CStr;
// Try to make these work, containing a nested msg with arrays.
//
// martin@martin-XPS-15-9550 ~ $ ros2 msg show trajectory_msgs/msg/JointTrajectoryPoint
// # Each trajectory point specifies either positions[, velocities[, accelerations]]
// # or positions[, effort] for the trajectory to be executed.
// # All specified values are in the same order as the joint names in JointTrajectory.msg.
//
// float64[] positions
// float64[] velocities
// float64[] accelerations
// float64[] effort
// builtin_interfaces/Duration time_from_start
// martin@martin-XPS-15-9550 ~ $ ros2 msg show builtin_interfaces/msg/Duration
// int32 sec
// uint32 nanosec
//
//
fn field_type(t: u8) -> String {
// rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT = 1,
@ -119,7 +100,9 @@ pub fn generate_rust_msg(module: &str, prefix: &str, name: &str) -> String {
let rust_field_type = field_type(type_id);
if rust_field_type == "std::string::String" {
if is_array {
from_native.push_str(&format!("{field_name}: msg.{field_name}.to_vec(),\n", field_name = field_name));
} else if rust_field_type == "std::string::String" {
from_native.push_str(&format!("{field_name}: msg.{field_name}.to_str().to_owned(),\n", field_name = field_name));
} else if rust_field_type == "message" {
// perform a hack!
@ -130,14 +113,10 @@ pub fn generate_rust_msg(module: &str, prefix: &str, name: &str) -> String {
let nn: Vec<&str> = namespace.split("__").into_iter().take(2).collect();
let (module, prefix) = ( nn[0], nn[1] );
from_native.push_str(&format!("{field_name}: {module}::{prefix}::{msgname}::from_native(&msg.{field_name}),", field_name = field_name, module = module, prefix=prefix, msgname = name));
} else {
if is_array {
from_native.push_str(&format!("{field_name}: msg.{field_name}.to_vec(),\n", field_name = field_name));
} else {
from_native.push_str(&format!("{field_name}: msg.{field_name},\n", field_name = field_name));
}
}
}
from_native.push_str(" }\n }\n");
let mut copy_to_native = String::new();
@ -151,18 +130,16 @@ pub fn generate_rust_msg(module: &str, prefix: &str, name: &str) -> String {
let rust_field_type = field_type(type_id);
// handle other special cases...
if rust_field_type == "std::string::String" {
if is_array {
copy_to_native.push_str(&format!("msg.{field_name}.update(&self.{field_name});\n", field_name = field_name));
} else if rust_field_type == "std::string::String" {
copy_to_native.push_str(&format!("msg.{field_name}.assign(&self.{field_name});\n", field_name = field_name));
} else if rust_field_type == "message" {
copy_to_native.push_str(&format!("self.{field_name}.copy_to_native(&mut msg.{field_name});", field_name = field_name));
} else {
if is_array {
copy_to_native.push_str(&format!("msg.{field_name}.update(&self.{field_name});\n", field_name = field_name));
} else {
copy_to_native.push_str(&format!("msg.{field_name} = self.{field_name};\n", field_name = field_name));
}
}
}
copy_to_native.push_str("}\n");
let typesupport = format!("impl WrappedTypesupport for {msgname} {{ \n

29
rcl/src/lib.rs
View File

@ -59,6 +59,35 @@ impl Default for rmw_qos_profile_t {
// conversions from/to vectors
// macro:ify this increase maintainability
impl rosidl_generator_c__String__Sequence {
pub fn update(&mut self, values: &[String]) {
unsafe { rosidl_generator_c__String__Sequence__fini(self as *mut _); }
unsafe { rosidl_generator_c__String__Sequence__init(self as *mut _, values.len()); }
let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) };
for (target, source) in strs.iter_mut().zip(values) {
target.assign(&source);
}
}
pub fn to_vec(&self) -> Vec<String> {
let mut dst = Vec::with_capacity(self.size);
let strs = unsafe { std::slice::from_raw_parts(self.data, self.size) };
for s in strs {
dst.push(s.to_str().to_owned());
}
dst
}
// dont think we need fini? surely messages call fini on all their fields...?
//
// extern "C" {
// pub fn rosidl_generator_c__float64__Sequence__fini(
// sequence: *mut rosidl_generator_c__double__Sequence,
// );
// }
}
impl rosidl_generator_c__double__Sequence {
pub fn update(&mut self, values: &[f64]) {
// crash here?