Add ping360 device generation

Co-authored-by: Patrick José Pereira <[email protected]>"

Author: incebellipipo

.gitignore

@@ -2,3 +2,4 @@
 **/ping-message-*.h
 build
 src/device/ping-device-ping1d.*
+src/device/ping-device-ping360.*

lib/ping-protocol

@@ -6,13 +6,15 @@ add_custom_target(generate-devices
     COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/../generate/generate-device.py --output-dir ${CMAKE_CURRENT_SOURCE_DIR}
     COMMENT "Generates ping device class."
 BYPRODUCTS
+    ${CMAKE_CURRENT_SOURCE_DIR}/ping-device-ping360.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/ping-device-ping1d.cpp
 )
 
 add_library(
     DEVICE
 STATIC
     ping-device-ping1d.cpp
+    ping-device-ping360.cpp
     ping-device.cpp
 )
 

src/device/CMakeLists.txt

@@ -32,3 +32,11 @@
 f = open("%s/ping-device-ping1d.cpp" % args.output_directory, "w")
 f.write(g.generate("%s/ping1d.json" % definitionPath, "%s/ping-device-ping1d.cpp.in" % templatePath))
 f.close()
+
+f = open("%s/ping-device-ping360.h" % args.output_directory, "w")
+f.write(g.generate("%s/ping360.json" % definitionPath, "%s/ping-device-ping360.h.in" % templatePath))
+f.close()
+
+f = open("%s/ping-device-ping360.cpp" % args.output_directory, "w")
+f.write(g.generate("%s/ping360.json" % definitionPath, "%s/ping-device-ping360.cpp.in" % templatePath))
+f.close()

src/generate/generate-device.py

@@ -0,0 +1,73 @@
+#include <ping-message-common.h>
+#include "ping-message-ping360.h"
+#include "ping-device-ping360.h"
+
+Ping360::~Ping360()
+{
+{% for msg in messages["get"]|sort %}
+{% for field in messages["get"][msg].payload %}
+{% if generator.is_vector(field.type) %}
+    if ({{msg}}_data.{{field.name}}) {
+        delete[] {{msg}}_data.{{field.name}};
+    }
+{% endif %}
+{% endfor %}
+{% endfor %}
+}
+
+bool Ping360::initialize()
+{
+    if (!PingDevice::initialize()) {
+        return false;
+    }
+
+    return true;
+}
+
+void Ping360::_handleMessage(const ping_message* message)
+{
+    switch (message->message_id()) {
+{% for msg in messages["get"]|sort %}
+{% if not messages["get"][msg].deprecated %}
+        case Ping360Id::{{msg|upper}}:
+        {
+            const ping360_{{msg}}* message_{{msg}} = static_cast<const ping360_{{msg}}*>(message);
+{% for field in messages["get"][msg].payload %}
+{% if generator.is_vector(field.type) %}
+            if (message_{{msg}}->{{field.name}}_length() > {{msg}}_data.{{field.name}}_length) {
+                if ({{msg}}_data.{{field.name}}) {
+                    delete[] {{msg}}_data.{{field.name}};
+                }
+                {{msg}}_data.{{field.name}} = new {{generator.get_type_string(field.vector.datatype)}}[message_{{msg}}->{{field.name}}_length()];
+            }
+
+            {{msg}}_data.{{field.name}}_length = message_{{msg}}->{{field.name}}_length();
+            memcpy({{msg}}_data.{{field.name}}, message_{{msg}}->{{field.name}}(), message_{{msg}}->{{field.name}}_length());
+{% else %}
+            {{msg}}_data.{{field.name}} = message_{{msg}}->{{field.name}}();
+{% endif %}
+{% endfor %}
+        }
+        break;
+{% endif %}
+{% endfor %}
+
+        default:
+            break;
+    }
+
+    PingDevice::_handleMessage(message);
+}
+
+
+{% for msg in messages["control"]|sort %}
+void Ping360::set_{{msg}}({% for field in messages["control"][msg].payload %}{{generator.get_type_string(field.type)}} _{{field.name}}{{ ", " if not loop.last else "" }}{% endfor %})
+{
+    ping360_{{msg}} message;
+{% for field in messages["control"][msg].payload %}
+    message.set_{{field.name}}(_{{field.name}});
+{% endfor %}
+    writeMessage(message);
+}
+
+{% endfor %}

src/generate/templates/ping-device-ping360.cpp.in

@@ -0,0 +1,76 @@
+/*
+ * A device API for the Blue Robotics Ping Echosounder
+ *
+ *~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!
+ * THIS IS AN AUTOGENERATED FILE
+ * DO NOT EDIT
+ *~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!~!
+ *
+ */
+
+#pragma once
+
+#include "ping-device.h"
+
+class Ping360 : public PingDevice
+{
+public:
+    /**
+     *  @brief Constructor
+     *
+     *  @param ser: The device I/O
+     */
+    Ping360(PingPort& port) : PingDevice(port) {}
+
+    /**
+     * @brief Destructor
+     */
+    ~Ping360();
+
+    /**
+     *  @brief Establish communications with the device, and initialize the update interval
+     *
+     *  @param pingIntervalMs: The interval (in milliseconds) between acoustic measurements
+     *
+     *  @return true if the device was initialized successfully
+     */
+    bool initialize();
+
+{% for msg in messages["control"] %}
+    /**
+     * @brief {{messages["control"][msg].description}}
+     *
+{% for field in messages["control"][msg].payload %}
+     * @param {{field.name}} - {% if field.units %}Units: {{field.units}}; {% endif %}{{field.description}}
+{% endfor %}
+     */
+    void set_{{msg}}({% for field in messages["control"][msg].payload %}{{generator.get_type_string(field.type)}} {{field.name}}{{ ", " if not loop.last else "" }}{% endfor %});
+
+{% endfor %}
+
+{% for msg in messages["get"]|sort %}
+{% if not messages["get"][msg].deprecated %}
+    //! {{messages["get"][msg].description}}
+    struct {
+{% for field in messages["get"][msg].payload %}
+        // {{field.description}}
+{% if not generator.is_vector(field.type) %}
+        {{generator.get_type_string(field.type)}} {{field.name}};
+{% else %}
+        {{generator.get_type_string(field.vector.datatype)}}* {{field.name}} = nullptr;
+        {{generator.get_type_string(field.vector.sizetype)}} {{field.name}}_length = 0;
+{% endif %}
+{% endfor %}
+    } {{msg}}_data;
+
+{% endif %}
+{% endfor %}
+
+private:
+    /**
+     *  @brief Handle an incoming message from the device. Internal values are updated according to the device data.
+     *
+     *  @param message: A pointer to the message received from the device
+     */
+    void _handleMessage(const ping_message* message) override;
+};