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Handle special case of std::vector<bool> #411

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Handle special case of std::vector<bool> #411

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e310440
handle special case of std::vector<bool>
oKermorgant Jul 7, 2023
f29f80d
simplify srv template to allow vector<bool>
oKermorgant Jul 27, 2023
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63 changes: 45 additions & 18 deletions resource/interface_factories.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -306,26 +306,18 @@ void ServiceFactory<
@[ 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);
for ( size_t i = 0; i < req1.@(field["ros1"]["name"]).size(); ++i)
@[ if field["basic"]]@
req@(to).@(field["ros" + to]["name"])[i] = req@(frm).@(field["ros" + frm]["name"])[i];
@[ else]@
Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@
req@(frm).@(field["ros" + frm]["name"])[i], req@(to).@(field["ros" + to]["name"])[i]);
@[ end if]@
@[ elif field["basic"]]@
req@(to).@(field["ros" + to]["name"]) = req@(frm).@(field["ros" + frm]["name"]);
@[ 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"]]@
}
req@(frm).@(field["ros" + frm]["name"]), req@(to).@(field["ros" + to]["name"]));
@[ end if]@
@[ end for]@
}
Expand Down Expand Up @@ -368,6 +360,18 @@ static void streamPrimitiveVector(ros::serialization::OStream & stream, const VE
memcpy(stream.advance(data_len), &vec.front(), data_len);
}

// This version is for write vector<bool>
template<typename VEC_PRIMITIVE_T>
static void streamPrimitiveVectorBool(ros::serialization::OStream & stream, const VEC_PRIMITIVE_T& vec)
{
const uint32_t step = sizeof(bool);
const uint32_t data_len = vec.size() * sizeof(bool);
// element-wise copy because of vector<bool>
for(uint i = 0; i < vec.size(); ++i)
*(stream.getData()+i*step) = vec[i];
stream.advance(data_len);
}

// This version is for length
template<typename VEC_PRIMITIVE_T>
static void streamPrimitiveVector(ros::serialization::LStream & stream, const VEC_PRIMITIVE_T& vec)
Expand All @@ -376,6 +380,14 @@ static void streamPrimitiveVector(ros::serialization::LStream & stream, const VE
stream.advance(data_len);
}

// This version is for length
template<typename VEC_PRIMITIVE_T>
static void streamPrimitiveVectorBool(ros::serialization::LStream & stream, const VEC_PRIMITIVE_T& vec)
{
const uint32_t data_len = vec.size() * sizeof(typename VEC_PRIMITIVE_T::value_type);
stream.advance(data_len);
}

// This version is for read
template<typename VEC_PRIMITIVE_T>
static void streamPrimitiveVector(ros::serialization::IStream & stream, VEC_PRIMITIVE_T& vec)
Expand All @@ -385,6 +397,18 @@ static void streamPrimitiveVector(ros::serialization::IStream & stream, VEC_PRIM
memcpy(&vec.front(), stream.advance(data_len), data_len);
}

// This version is for read sector<bool>
template<typename VEC_PRIMITIVE_T>
static void streamPrimitiveVectorBool(ros::serialization::IStream & stream, VEC_PRIMITIVE_T& vec)
{
const uint32_t step = sizeof(bool);
const uint32_t data_len = vec.size() * sizeof(bool);
// element-wise copy because of vector<bool>
for(uint i = 0; i < vec.size(); ++i)
vec[i] = *(stream.getData() + i*step);
stream.advance(data_len);
}

@[for m in mapped_msgs]@

@[ if m.ros2_msg.package_name=="std_msgs" and m.ros2_msg.message_name=="Header"]
Expand Down Expand Up @@ -466,6 +490,9 @@ if isinstance(ros2_fields[-1].type, NamespacedType):
{
ros1_bridge::internal_stream_translate_helper(stream, *ros2_it);
}
@[ elif ros2_fields[-1].type.value_type.typename == 'boolean']@
// write primitive type, specialized
streamPrimitiveVectorBool(stream, ros2_msg.@(ros2_field_selection));
@[ else]@
// write primitive type
streamPrimitiveVector(stream, ros2_msg.@(ros2_field_selection));
Expand Down