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| // generated from ros1_bridge/resource/pkg_factories.cpp.em | ||
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| @############################################### | ||
| @# | ||
| @# Factory template specializations based on | ||
| @# message types of a single ROS 2 package | ||
| @# | ||
| @# EmPy template for generating <pkgname>_factories.cpp | ||
| @# | ||
| @############################################### | ||
| @# Start of Template | ||
| @# | ||
| @# Context: | ||
| @# - ros2_package_name (str) | ||
| @# The ROS 2 package name of this file | ||
| @# - mappings (list of ros1_bridge.Mapping) | ||
| @# Mapping between messages as well as their fields | ||
| @############################################### | ||
| @ | ||
| @{ | ||
| from ros1_bridge import camel_case_to_lower_case_underscore | ||
| }@ | ||
| #include "rclcpp/rclcpp.hpp" | ||
| #include "@(ros2_package_name)_factories.hpp" | ||
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| // include builtin interfaces | ||
| #include <ros1_bridge/convert_builtin_interfaces.hpp> | ||
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| // include ROS 1 services | ||
| @[for service in services]@ | ||
| #include <@(service["ros1_package"])/@(service["ros1_name"]).h> | ||
| @[end for]@ | ||
|
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| // include ROS 2 services | ||
| @[for service in services]@ | ||
| #include <@(service["ros2_package"])/srv/@(camel_case_to_lower_case_underscore(service["ros2_name"])).hpp> | ||
| @[end for]@ | ||
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||
| namespace ros1_bridge | ||
| { | ||
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| std::shared_ptr<FactoryInterface> | ||
| get_factory_@(ros2_package_name)(const std::string & ros1_type_name, const std::string & ros2_type_name) | ||
| { | ||
| @[if not mappings]@ | ||
| (void)ros1_type_name; | ||
| (void)ros2_type_name; | ||
| @[end if]@ | ||
| // mapping from string to specialized template | ||
| @[for m in mappings]@ | ||
| if ( | ||
| (ros1_type_name == "@(m.ros1_msg.package_name)/@(m.ros1_msg.message_name)" || | ||
| ros1_type_name == "") && | ||
| ros2_type_name == "@(m.ros2_msg.package_name)/@(m.ros2_msg.message_name)") | ||
| { | ||
| return std::make_shared< | ||
| Factory< | ||
| @(m.ros1_msg.package_name)::@(m.ros1_msg.message_name), | ||
| @(m.ros2_msg.package_name)::msg::@(m.ros2_msg.message_name) | ||
| > | ||
| >("@(m.ros1_msg.package_name)/@(m.ros1_msg.message_name)", ros2_type_name); | ||
| } | ||
| @[end for]@ | ||
| return std::shared_ptr<FactoryInterface>(); | ||
| } | ||
|
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||
| // conversion functions for available interfaces | ||
| @[for m in mappings]@ | ||
|
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||
| template<> | ||
| void | ||
| Factory< | ||
| @(m.ros1_msg.package_name)::@(m.ros1_msg.message_name), | ||
| @(m.ros2_msg.package_name)::msg::@(m.ros2_msg.message_name) | ||
| >::convert_1_to_2( | ||
| const @(m.ros1_msg.package_name)::@(m.ros1_msg.message_name) & ros1_msg, | ||
| @(m.ros2_msg.package_name)::msg::@(m.ros2_msg.message_name) & ros2_msg) | ||
| { | ||
| @[ if not m.fields_1_to_2]@ | ||
| (void)ros1_msg; | ||
| (void)ros2_msg; | ||
| @[ end if]@ | ||
| @[ for ros1_field, ros2_field in m.fields_1_to_2.items()]@ | ||
| @[ if not ros2_field.type.is_array]@ | ||
| // convert non-array field | ||
| @[ if not ros2_field.type.pkg_name]@ | ||
| // convert primitive field | ||
| ros2_msg.@(ros2_field.name) = ros1_msg.@(ros1_field.name); | ||
| @[ elif ros2_field.type.pkg_name == 'builtin_interfaces']@ | ||
| // convert builtin field | ||
| ros1_bridge::convert_1_to_2(ros1_msg.@(ros1_field.name), ros2_msg.@(ros2_field.name)); | ||
| @[ else]@ | ||
| // convert sub message field | ||
| Factory< | ||
| @(ros1_field.pkg_name)::@(ros1_field.msg_name), | ||
| @(ros2_field.type.pkg_name)::msg::@(ros2_field.type.type) | ||
| >::convert_1_to_2( | ||
| ros1_msg.@(ros1_field.name), ros2_msg.@(ros2_field.name)); | ||
| @[ end if]@ | ||
| @[ else]@ | ||
| // convert array field | ||
| @[ if not ros2_field.type.array_size or ros2_field.type.is_upper_bound]@ | ||
| // ensure array size | ||
| @[ if ros2_field.type.is_upper_bound]@ | ||
| // check boundary | ||
| assert(ros1_msg.@(ros1_field.name).size() <= @(ros2_field.type.array_size)); | ||
| @[ end if]@ | ||
| // dynamic arrays must be resized | ||
| ros2_msg.@(ros2_field.name).resize(ros1_msg.@(ros1_field.name).size()); | ||
| @[ end if]@ | ||
| @[ if not ros2_field.type.pkg_name]@ | ||
| // convert primitive array elements | ||
| std::copy( | ||
| ros1_msg.@(ros1_field.name).begin(), | ||
| ros1_msg.@(ros1_field.name).end(), | ||
| ros2_msg.@(ros2_field.name).begin()); | ||
| @[ else]@ | ||
| // copy element wise since the type is different | ||
| { | ||
| auto ros1_it = ros1_msg.@(ros1_field.name).begin(); | ||
| auto ros2_it = ros2_msg.@(ros2_field.name).begin(); | ||
| for ( | ||
| ; | ||
| ros1_it != ros1_msg.@(ros1_field.name).end() && | ||
| ros2_it != ros2_msg.@(ros2_field.name).end(); | ||
| ++ros1_it, ++ros2_it | ||
| ) | ||
| { | ||
| // convert sub message element | ||
| @[ if ros2_field.type.pkg_name == 'builtin_interfaces']@ | ||
| ros1_bridge::convert_1_to_2(*ros1_it, *ros2_it); | ||
| @[ else]@ | ||
| Factory< | ||
| @(ros1_field.pkg_name)::@(ros1_field.msg_name), | ||
| @(ros2_field.type.pkg_name)::msg::@(ros2_field.type.type) | ||
| >::convert_1_to_2( | ||
| *ros1_it, *ros2_it); | ||
| @[ end if]@ | ||
| } | ||
| } | ||
| @[ end if]@ | ||
| @[ end if]@ | ||
| @[ end for]@ | ||
| } | ||
|
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||
| template<> | ||
| void | ||
| Factory< | ||
| @(m.ros1_msg.package_name)::@(m.ros1_msg.message_name), | ||
| @(m.ros2_msg.package_name)::msg::@(m.ros2_msg.message_name) | ||
| >::convert_2_to_1( | ||
| const @(m.ros2_msg.package_name)::msg::@(m.ros2_msg.message_name) & ros2_msg, | ||
| @(m.ros1_msg.package_name)::@(m.ros1_msg.message_name) & ros1_msg) | ||
| { | ||
| @[ if not m.fields_2_to_1]@ | ||
| (void)ros2_msg; | ||
| (void)ros1_msg; | ||
| @[ end if]@ | ||
| @[ for ros2_field, ros1_field in m.fields_2_to_1.items()]@ | ||
| @[ if not ros2_field.type.is_array]@ | ||
| // convert non-array field | ||
| @[ if not ros2_field.type.pkg_name]@ | ||
| // convert primitive field | ||
| ros1_msg.@(ros1_field.name) = ros2_msg.@(ros2_field.name); | ||
| @[ elif ros2_field.type.pkg_name == 'builtin_interfaces']@ | ||
| // convert builtin field | ||
| ros1_bridge::convert_2_to_1(ros2_msg.@(ros2_field.name), ros1_msg.@(ros1_field.name)); | ||
| @[ else]@ | ||
| // convert sub message field | ||
| Factory< | ||
| @(ros1_field.pkg_name)::@(ros1_field.msg_name), | ||
| @(ros2_field.type.pkg_name)::msg::@(ros2_field.type.type) | ||
| >::convert_2_to_1( | ||
| ros2_msg.@(ros2_field.name), ros1_msg.@(ros1_field.name)); | ||
| @[ end if]@ | ||
| @[ else]@ | ||
| // convert array field | ||
| @[ if not ros2_field.type.array_size or ros2_field.type.is_upper_bound]@ | ||
| // ensure array size | ||
| // dynamic arrays must be resized | ||
| ros1_msg.@(ros1_field.name).resize(ros2_msg.@(ros2_field.name).size()); | ||
| @[ end if]@ | ||
| @[ if not ros2_field.type.pkg_name]@ | ||
| // convert primitive array elements | ||
| std::copy( | ||
| ros2_msg.@(ros2_field.name).begin(), | ||
| ros2_msg.@(ros2_field.name).end(), | ||
| ros1_msg.@(ros1_field.name).begin()); | ||
| @[ else]@ | ||
| // copy element wise since the type is different | ||
| { | ||
| auto ros2_it = ros2_msg.@(ros2_field.name).begin(); | ||
| auto ros1_it = ros1_msg.@(ros1_field.name).begin(); | ||
| for ( | ||
| ; | ||
| ros2_it != ros2_msg.@(ros2_field.name).end() && | ||
| ros1_it != ros1_msg.@(ros1_field.name).end(); | ||
| ++ros2_it, ++ros1_it | ||
| ) | ||
| { | ||
| // convert sub message element | ||
| @[ if ros2_field.type.pkg_name == 'builtin_interfaces']@ | ||
| ros1_bridge::convert_2_to_1(*ros2_it, *ros1_it); | ||
| @[ else]@ | ||
| Factory< | ||
| @(ros1_field.pkg_name)::@(ros1_field.msg_name), | ||
| @(ros2_field.type.pkg_name)::msg::@(ros2_field.type.type) | ||
| >::convert_2_to_1( | ||
| *ros2_it, *ros1_it); | ||
| @[ end if]@ | ||
| } | ||
| } | ||
| @[ end if]@ | ||
| @[ end if]@ | ||
| @[ end for]@ | ||
| } | ||
|
|
||
| @[end for]@ | ||
|
|
||
| @[for service in services]@ | ||
| @[ for frm, to in [("1", "2"), ("2", "1")]]@ | ||
| @[ for type in ["Request", "Response"]]@ | ||
| template <> | ||
| void ServiceFactory< | ||
| @(service["ros1_package"])::@(service["ros1_name"]), | ||
| @(service["ros2_package"])::srv::@(service["ros2_name"]) | ||
| >::translate_@(frm)_to_@(to)( | ||
| @[ if frm == "1"]@ | ||
| const @(service["ros1_package"])::@(service["ros1_name"])::@(type)& req1, | ||
| @(service["ros2_package"])::srv::@(service["ros2_name"])::@(type)& req2 | ||
| @[ else]@ | ||
| const @(service["ros2_package"])::srv::@(service["ros2_name"])::@(type)& req2, | ||
| @(service["ros1_package"])::@(service["ros1_name"])::@(type)& req1 | ||
| @[ end if]@ | ||
| ) { | ||
| @[ for field in service["fields"][type.lower()]]@ | ||
| @[ if field["array"]]@ | ||
| req@(to).@(field["ros" + to]["name"]).resize(req@(frm).@(field["ros" + frm]["name"]).size()); | ||
| auto @(field["ros1"]["name"])1_it = req1.@(field["ros1"]["name"]).begin(); | ||
| auto @(field["ros2"]["name"])2_it = req2.@(field["ros2"]["name"]).begin(); | ||
| while ( | ||
| @(field["ros1"]["name"])1_it != req1.@(field["ros1"]["name"]).end() && | ||
| @(field["ros2"]["name"])2_it != req2.@(field["ros2"]["name"]).end() | ||
| ) { | ||
| auto & @(field["ros1"]["name"])1 = *(@(field["ros1"]["name"])1_it++); | ||
| auto & @(field["ros2"]["name"])2 = *(@(field["ros2"]["name"])2_it++); | ||
| @[ else]@ | ||
| auto & @(field["ros1"]["name"])1 = req1.@(field["ros1"]["name"]); | ||
| auto & @(field["ros2"]["name"])2 = req2.@(field["ros2"]["name"]); | ||
| @[ end if]@ | ||
| @[ if field["basic"]]@ | ||
| @(field["ros2"]["name"])@(to) = @(field["ros1"]["name"])@(frm); | ||
| @[ else]@ | ||
| Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@ | ||
| @(field["ros2"]["name"])@(frm), @(field["ros1"]["name"])@(to)); | ||
| @[ end if]@ | ||
| @[ if field["array"]]@ | ||
| } | ||
| @[ end if]@ | ||
| @[ end for]@ | ||
| } | ||
|
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| @[ end for]@ | ||
| @[ end for]@ | ||
| @[end for]@ | ||
|
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| std::unique_ptr<ServiceFactoryInterface> | ||
| get_service_factory_@(ros2_package_name)(const std::string & ros_id, const std::string & package_name, const std::string & service_name) | ||
| { | ||
| @[if not services]@ | ||
| (void)ros_id; | ||
| (void)package_name; | ||
| (void)service_name; | ||
| @[end if]@ | ||
| @[for service in services]@ | ||
| if ( | ||
| ( | ||
| ros_id == "ros1" && | ||
| package_name == "@(service["ros1_package"])" && | ||
| service_name == "@(service["ros1_name"])" | ||
| ) || ( | ||
| ros_id == "ros2" && | ||
| package_name == "@(service["ros2_package"])" && | ||
| service_name == "@(service["ros2_name"])" | ||
| ) | ||
| ) { | ||
| return std::unique_ptr<ServiceFactoryInterface>(new ServiceFactory< | ||
| @(service["ros1_package"])::@(service["ros1_name"]), | ||
| @(service["ros2_package"])::srv::@(service["ros2_name"]) | ||
| >); | ||
| } | ||
| @[end for]@ | ||
| return nullptr; | ||
| } | ||
| } // namespace ros1_bridge |