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@minggangw
minggangw committed Dec 27, 2024
1 parent 3b14b87 commit 031c924
Showing 1 changed file with 77 additions and 73 deletions.
150 changes: 77 additions & 73 deletions rosidl_gen/templates/message.dot
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ if (it.spec.fields.length === 0) {
},
"name": "_dummy"
});
} /* if */
}

function getPrimitiveNameByType(type) {
if (type.type === 'bool') {
Expand Down Expand Up @@ -108,7 +108,6 @@ function getTypedArrayName(type) {
default:
typedArrayName = '';
}

return typedArrayName;
}

Expand Down Expand Up @@ -267,80 +266,84 @@ const {{=refObjectArrayType}} = StructType({
capacity: ref.types.size_t
});

// Define the wrapper class.
{{/* Define the wrapper class for the message. */}}
class {{=objectWrapper}} {
constructor(other, willCheckConsistency = false) {
this._wrapperFields = {};
this._willCheckConsistency = willCheckConsistency;
{{~ it.spec.fields :field}}
{{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
this._{{=field.name}}Array = [];
{{?}}
{{~}}
this._initMembers(willCheckConsistency);
this._setDefaults();
{{/* Construct `this` from `other`. */}}

if (typeof other === 'object' && other._refObject) {
//this._initMembers(willCheckConsistency);
this._refObject = new {{=refObjectType}}(other._refObject.toObject());
{{~ it.spec.fields :field}}
{{? field.type.isPrimitiveType && !field.type.isArray}}
this._{{=field.name}}Intialized = true;
{{?}}

{{? field.type.isArray}}
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
{{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
this.{{=field.name}} = other.{{=field.name}};
{{?}}
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
{{?}}
{{? field.type.isPrimitiveType && !field.type.isArray}}
this._{{=field.name}}Intialized = true;
{{?}}

{{? field.type.isArray}}
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
{{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
this.{{=field.name}} = other.{{=field.name}};
{{?}}
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
{{?}}
{{~}}
} else if (typeof other !== 'undefined') {
this._initMembers();
{{/* Try to construct the message from a plan object of JavaScript. */}}
//this._initMembers(willCheckConsistency);
translator.constructFromPlanObject(this, other);
} else {
this._initMembers();
//this._initMembers(willCheckConsistency);
}
this.freeze();
}

_initMembers() {
this._refObject = new {{=refObjectType}}();
_setDefaults() {
{{~ it.spec.fields :field}}
{{? it.spec.isEmpty}}
this._{{=field.name}}Intialized = true;
{{??}}
{{? field.type.isPrimitiveType && !field.type.isArray}}
{{? field.default_value === null}}
this._{{=field.name}}Intialized = false;
{{?? field.type.type === 'string' || field.type.type === 'wstring'}}
this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
this._{{=field.name}}Intialized = true;
{{??}}
this._refObject.{{=field.name}} = {{=field.default_value}};
this._{{=field.name}}Intialized = true;
{{?}}
{{?}}
{{/* Set the flag of initialization. */}}
{{? it.spec.isEmpty}}
this._{{=field.name}}Intialized = true;
{{?? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
this._{{=field.name}}Intialized = true;
{{? field.type.type === 'string' || field.type.type === 'wstring'}}
this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
{{??}}
this._refObject.{{=field.name}} = {{=field.default_value}};
{{?}}
{{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
{{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
{{??}}
this._{{=field.name}}Intialized = false;
{{?}}
{{~}}
}

{{? field.type.isArray}}
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
{{? field.default_value !== null && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
{{?}}
{{? field.default_value !== null && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
{{?}}
{{? field.type.type === 'string' && field.type.isFixedSizeArray}}
for (let i = 0; i < {{=field.type.arraySize}}; i++) {
primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
}
{{?}}
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
{{?? it.spec.msgName === 'String'}}
primitiveTypes.initString(this._refObject);
{{?}}
{{?}}
_initMembers(willCheckConsistency) {
this._willCheckConsistency = willCheckConsistency;
this._wrapperFields = {};
this._refObject = new {{=refObjectType}}();

{{~ it.spec.fields :field}}
{{? field.type.isArray}}
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
{{? field.type.type === 'string' && field.type.isFixedSizeArray}}
for (let i = 0; i < {{=field.type.arraySize}}; i++) {
primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
}
{{?}}
{{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
this._{{=field.name}}Array = [];
{{?}}
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
{{?? it.spec.msgName === 'String'}}
primitiveTypes.initString(this._refObject);
{{?}}
{{~}}
}

Expand Down Expand Up @@ -371,6 +374,7 @@ class {{=objectWrapper}} {
return this._refObject.ref();
}

{{ /*Allocate the memory following the struct of the message*/ }}
freeze(own = false, checkConsistency = false) {
{{~ it.spec.fields :field}}
{{? field.type.isPrimitiveType && !field.type.isArray}}
Expand All @@ -395,7 +399,7 @@ class {{=objectWrapper}} {
}
}
}
// For non-typed array like int64/uint64/bool.
{{/* For non-typed array like int64/uint64/bool. */}}
{{?? true}}
this._refObject.{{=field.name}} = this._{{=field.name}}Array;
{{?}}
Expand Down Expand Up @@ -459,7 +463,7 @@ class {{=objectWrapper}} {
for (let index = 0; index < {{=field.type.arraySize}}; index++) {
this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
}
// For non-typed array like int64/uint64/bool.
{{/* For non-typed array like int64/uint64/bool. */}}
{{?? true}}
this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
{{?}}
Expand Down Expand Up @@ -494,7 +498,7 @@ class {{=objectWrapper}} {
if (refObject.{{=field.name}}.size != 0) {
{{=getWrapperNameByType(field.type)}}.ArrayType.freeArray(refObject.{{=field.name}});
if ({{=getWrapperNameByType(field.type)}}.ArrayType.useTypedArray) {
// Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array.
{{/* Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array. */}}
} else {
deallocator.freeStructMember(refObject.{{=field.name}}, {{=getWrapperNameByType(field.type)}}.refObjectArrayType, 'data');
}
Expand Down Expand Up @@ -657,7 +661,7 @@ class {{=objectWrapper}} {
}
}

// Define the wrapper of array class.
{{/* Define the wrapper class for the message array. */}}
class {{=arrayWrapper}} {
constructor(size = 0) {
this._resize(size);
Expand All @@ -670,13 +674,13 @@ class {{=arrayWrapper}} {
fill(values) {
{{? usePlainTypedArray}}
if (Array.isArray(values)) {
// Convert JavaScript array
{{/* Convert JavaScript array. */}}
this._wrappers = new {{=currentTypedArray}}(values);
} else {
this._wrappers = values;
}
{{?? isPrimitivePackage(it.spec.baseType)}}
// Now for primitive arrays, only string/bool/int64/uint64 array drops here.
{{/* For primitive arrays, only string/bool/int64/uint64 array drops here. */}}
const length = values.length;
this._resize(length);
for (let i = 0; i < length; ++i) {
Expand All @@ -697,10 +701,10 @@ class {{=arrayWrapper}} {
{{?}}
}

// Put all data currently stored in `this._wrappers` into `this._refObject`
{{/* Put all data currently stored in `this._wrappers` into `this._refObject`. */}}
freeze(own) {
{{? usePlainTypedArray}}
// When it's a TypedArray: no need to copy to `this._refArray`
{{/* When it's a TypedArray: no need to copy to `this._refArray`. */}}
{{?? true}}
this._wrappers.forEach((wrapper, index) => {
wrapper.freeze(own);
Expand Down Expand Up @@ -783,13 +787,13 @@ class {{=arrayWrapper}} {
{{?}}
}

// Copy all data from `this._refObject` into `this._wrappers`
{{/* Copy all data from `this._refObject` into `this._wrappers`. */}}
copyRefObject(refObject) {
this._refObject = refObject;

{{? usePlainTypedArray}}
const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
// An ArrayBuffer object that doesn't hold the ownership of the address
{{/* An ArrayBuffer object doesn't hold the ownership of memory block starting from address. */}}
const arrayBuffer = refObject.data.length !== 0 ?
rclnodejs.createArrayBufferFromAddress(refObject.data.hexAddress(), byteLen) :
Buffer.alloc(0);
Expand All @@ -814,7 +818,7 @@ class {{=arrayWrapper}} {
{{? usePlainTypedArray}}
this._wrappers = other._wrappers.slice();
{{?? true}}
// Array deep copy
{{/* Array deep copy. */}}
other._wrappers.forEach((wrapper, index) => {
this._wrappers[index].copy(wrapper);
});
Expand All @@ -823,7 +827,7 @@ class {{=arrayWrapper}} {

static freeArray(refObject) {
{{? usePlainTypedArray}}
// For TypedArray: .data will be 'free()'-ed in parent struct
{{/* For TypedArray, `.data` will be 'free()'-ed in parent struct. */}}
{{?? true}}
let refObjectArray = refObject.data;
refObjectArray.length = refObject.size;
Expand Down Expand Up @@ -851,7 +855,7 @@ class {{=arrayWrapper}} {
}

{{? it.spec.constants != undefined && it.spec.constants.length}}
// Define constants ({{=it.spec.constants.length}} in total)
{{/* Define constants ({{=it.spec.constants.length}} in total). */}}
{{~ it.spec.constants :c}}
{{? c.type === "string"}}
Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});
Expand Down

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