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[WIP] Yarp types names #2231

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1e84e33
wip-thrift-type
drdanz Mar 12, 2020
7628738
modified thrift yarp_generator to add name and version to yarp data t…
randaz81 Mar 13, 2020
08a3bdb
comments addressed
randaz81 Mar 13, 2020
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63 changes: 63 additions & 0 deletions src/idls/thrift/src/t_yarp_generator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,9 @@ class t_yarp_generator : public t_oop_generator
void generate_struct_read_connectionreader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_write_wirereader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_write_connectionreader(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_typeconstexpr(t_struct* tstruct, std::ostringstream& f_h_, const std::string& type, const std::string& version);
void generate_struct_tostring(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_gettype(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_unwrapped_helper(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_editor(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
void generate_struct_editor_default_constructor(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_);
Expand Down Expand Up @@ -1840,6 +1842,22 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)
yarp_api_keyword = annotations.at("yarp.api.keyword");
}

std::string yarp_type_name{};
if (annotations.find("yarp.type.name") != annotations.end()) {
yarp_type_name = annotations.at("yarp.type.name");
}
else {
yarp_type_name = "yarp/"+name;
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I'm not convinced about this default value, I'd rather enable this only if specified by the user (at least for now), or everyone who defined some type in some other repo will have some "yarp" types.

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I see. Better name? or just an empty string?

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Empty string and do not add the type part if not defined

}

std::string yarp_type_version{};
if (annotations.find("yarp.type.version") != annotations.end()) {
yarp_type_version = annotations.at("yarp.type.version");
}
else {
yarp_type_version = "1.0";
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Same about the default version, 1.0 is not a good value, since an unstable type with no annotation defined will have a stable version. I'd stick with enabling this part only if explicitly added by the user.

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0.0? or empty string?

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No, I'd just leave it empty, and add the relative calls when generating the code only if it is defined

}

// Open header file
std::string f_header_name = get_out_dir() + get_include_prefix(program_) + name + ".h";
ofstream_with_content_based_conditional_update f_h_;
Expand Down Expand Up @@ -1874,6 +1892,7 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)

f_h_ << "#include <yarp/os/Wire.h>\n";
f_h_ << "#include <yarp/os/idl/WireTypes.h>\n";
f_h_ << "#include <yarp/os/Type.h>\n";
if (need_common_) {
f_h_ << '\n';
f_h_ << "#include <" << get_include_prefix(program_) << program_->get_name() << "_common.h>" << '\n';
Expand Down Expand Up @@ -1915,7 +1934,9 @@ void t_yarp_generator::generate_struct(t_struct* tstruct)
generate_struct_read_connectionreader(tstruct, f_h_, f_cpp_);
generate_struct_write_wirereader(tstruct, f_h_, f_cpp_);
generate_struct_write_connectionreader(tstruct, f_h_, f_cpp_);
generate_struct_typeconstexpr(tstruct, f_h_, yarp_type_name, yarp_type_version);
generate_struct_tostring(tstruct, f_h_, f_cpp_);
generate_struct_gettype(tstruct, f_h_, f_cpp_);
generate_struct_unwrapped_helper(tstruct, f_h_, f_cpp_);

// Add editor class, if not disabled
Expand Down Expand Up @@ -2218,6 +2239,48 @@ void t_yarp_generator::generate_struct_tostring(t_struct* tstruct, std::ostrings
assert(indent_count_cpp() == 0);
}

void t_yarp_generator::generate_struct_typeconstexpr(t_struct* tstruct, std::ostringstream& f_h_, const std::string& yarp_type_name, const std::string& yarp_type_version)
{
THRIFT_DEBUG_COMMENT(f_h_);

const auto& name = tstruct->get_name();

f_h_ << indent_h() << "//The name and the version for this message\n";
f_h_ << indent_h() << "static constexpr const char* typeName = \"" << yarp_type_name << "\";\n";
f_h_ << indent_h() << "static constexpr const char* typeVersion = \"" << "1.0" << "\";\n";
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1.0 shouldn't be hardcoded here

f_h_ << '\n';

assert(indent_count_h() == 1);
}

void t_yarp_generator::generate_struct_gettype(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_)
{
THRIFT_DEBUG_COMMENT(f_h_);
THRIFT_DEBUG_COMMENT(f_cpp_);

const auto& name = tstruct->get_name();

f_h_ << indent_h() << "// Get the message type\n";
f_h_ << indent_h() << "yarp::os::Type getType() const;\n";
f_h_ << '\n';

f_cpp_ << indent_cpp() << "// Convert to a printable string\n";
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This comment seems a copy-paste from somewhere else

f_cpp_ << indent_cpp() << "yarp::os::Type " << name << "::getType() const\n";
f_cpp_ << indent_cpp() << "{\n";
indent_up_cpp();
{
f_cpp_ << indent_cpp() << " yarp::os::Type typ = yarp::os::Type::byNameOnWire(typeName);\n";
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The extra space before yarp::os::Type (and 2 lines below before return) shouldn't be there

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yarp::os::Type::byNameOnWire(typeName) is equivalent to yarp::os::Type::byName("yarp/bottle", typeName). We should definitely investigate what's the meaning of the first string, and if it is actually correct to use byNameOnWire, or it should be yarp::os::Type::byName(typeName, typeName)

f_cpp_ << indent_cpp() << "typ.setVersion(typeVersion);\n";
f_cpp_ << indent_cpp() << " return typ;\n";
}
indent_down_cpp();
f_cpp_ << indent_cpp() << "}\n";
f_cpp_ << '\n';

assert(indent_count_h() == 1);
assert(indent_count_cpp() == 0);
}

void t_yarp_generator::generate_struct_unwrapped_helper(t_struct* tstruct, std::ostringstream& f_h_, std::ostringstream& f_cpp_)
{
THRIFT_DEBUG_COMMENT(f_h_);
Expand Down
2 changes: 2 additions & 0 deletions src/libYARP_dev/src/idl/LaserScan2D.thrift
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Original file line number Diff line number Diff line change
Expand Up @@ -37,4 +37,6 @@ struct LaserScan2D
(
yarp.api.include = "yarp/dev/api.h"
yarp.api.keyword = "YARP_dev_API"
yarp.type.name = "yarp/LaserScan2D"
yarp.type.version = "1.0"
)
9 changes: 9 additions & 0 deletions src/libYARP_dev/src/idl_generated_code/yarp/dev/LaserScan2D.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,8 @@ bool LaserScan2D::read(yarp::os::ConnectionReader& connection)
// Write structure on a Wire
bool LaserScan2D::write(const yarp::os::idl::WireWriter& writer) const
{
//write_type();

if (!write_angle_min(writer)) {
return false;
}
Expand Down Expand Up @@ -121,6 +123,13 @@ std::string LaserScan2D::toString() const
return b.toString();
}

yarp::os::Type LaserScan2D::getType() const
{
yarp::os::Type typ = yarp::os::Type::byNameOnWire(typeName);
typ.setVersion(typeVersion);
return typ;
}

// Editor: default constructor
LaserScan2D::Editor::Editor()
{
Expand Down
7 changes: 7 additions & 0 deletions src/libYARP_dev/src/idl_generated_code/yarp/dev/LaserScan2D.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,13 @@ class YARP_dev_API LaserScan2D :
// If you want to serialize this class without nesting, use this helper
typedef yarp::os::idl::Unwrapped<LaserScan2D> unwrapped;


// The name for this message, ROS will need this
static constexpr const char* typeName = "yarp/LaserScan2D";
static constexpr const char* typeVersion = "1.0";

yarp::os::Type getType() const override;

class Editor :
public yarp::os::Wire,
public yarp::os::PortWriter
Expand Down
28 changes: 27 additions & 1 deletion src/libYARP_os/src/yarp/os/Type.cpp
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Expand Up @@ -84,6 +84,7 @@ class Type::Private
Property* prop{nullptr};
std::string name;
std::string name_on_wire;
std::string version;
};


Expand All @@ -108,6 +109,21 @@ Type::~Type()
delete mPriv;
}

std::string Type::getVersion() const
{
return mPriv->version;
}

size_t Type::getMajorVersion() const
{
return 1;
}

size_t Type::getMinorVersion() const
{
return 1;
}

Type& Type::operator=(const Type& rhs)
{
if (&rhs != this) {
Expand Down Expand Up @@ -154,9 +170,14 @@ bool Type::hasName() const
return !mPriv->name.empty();
}

bool Type::hasVersion() const
{
return !mPriv->version.empty();
}

bool Type::isValid() const
{
return hasName();
return hasName() && hasVersion();
}

std::string Type::toString() const
Expand All @@ -170,6 +191,11 @@ std::string Type::toString() const
return "null";
}

Type& Type::setVersion(const std::string& version)
{
mPriv->version = version;
return *this;
}

Type Type::byName(const char* name)
{
Expand Down
10 changes: 10 additions & 0 deletions src/libYARP_os/src/yarp/os/Type.h
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Expand Up @@ -72,8 +72,16 @@ class YARP_os_API Type

std::string getNameOnWire() const;

std::string getVersion() const;

size_t getMajorVersion() const;

size_t getMinorVersion() const;

bool hasName() const;

bool hasVersion() const;

bool isValid() const;

std::string toString() const;
Expand All @@ -84,6 +92,8 @@ class YARP_os_API Type

Type& addProperty(const char* key, const Value& val);

Type& setVersion(const std::string& vesion);

/** @} */
/** @{ */

Expand Down