wip update

.gitignore

@@ -247,3 +247,4 @@ $RECYCLE.BIN/
 
 build/**
 archive/**
+msgs/**

.vscode/launch.json

@@ -0,0 +1,32 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(gdb) Launch",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/uros-rtidl",
+            "args": [
+                "-baseType",
+                "Twist",
+                "-typeDir",
+                "${workspaceFolder}/test/msg",
+                "-outDir",
+                "${workspaceFolder}/test/output",
+                "-pyTemplate",
+                "./test/pythonTypeTemplate.j2"
+
+            ],
+            "stopAtEntry": true,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "MIMode": "gdb",
+            "externalConsole": false,
+            "setupCommands": [
+            ] 
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "parser.h": "c",
+        "datatypecatalog.h": "c",
+        "string": "cpp"
+    }
+}

CMakeLists.txt

@@ -1,8 +1,11 @@
-cmake_minimum_required(VERSION 3.21)
 
-project(uros-rtidl VERSION 1.0 LANGUAGES C)
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_BUILD_TYPE Debug)
+
+project(uros-rtidl VERSION 1.0 LANGUAGES C CXX)
 
 set(SRC_DIR "src")
+
 set(PARSER_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
 find_package(FLEX 2.6 REQUIRED) 
@@ -11,9 +14,20 @@ find_package(BISON 3.0 REQUIRED)
 set(LEXER_OUT "${PARSER_DIR}/lexer.c")
 set(PARSER_OUT "${PARSER_DIR}/parser.c")
 
-flex_target(LEXER "${SRC_DIR}/lexer.l" "${LEXER_OUT}" COMPILE_FLAGS "--debug --verbose" DEFINES_FILE "${PARSER_DIR}/lexer.h" )
-bison_target(PARSER "${SRC_DIR}/parser.y" "${PARSER_OUT}" COMPILE_FLAGS "--debug --verbose -Dparse.trace " DEFINES_FILE "${PARSER_DIR}/parser.h")
+#flex_target(LEXER "${SRC_DIR}/lexer.l" "${LEXER_OUT}" COMPILE_FLAGS "--debug --verbose" DEFINES_FILE "${PARSER_DIR}/lexer.h" )
+#bison_target(PARSER "${SRC_DIR}/parser.y" "${PARSER_OUT}" COMPILE_FLAGS "-d --debug --verbose -Dparse.trace " DEFINES_FILE "${PARSER_DIR}/parser.h" )
+flex_target(LEXER "${SRC_DIR}/lexer.l" "${LEXER_OUT}" COMPILE_FLAGS "" DEFINES_FILE "${PARSER_DIR}/lexer.h" )
+bison_target(PARSER "${SRC_DIR}/parser.y" "${PARSER_OUT}" COMPILE_FLAGS "" DEFINES_FILE "${PARSER_DIR}/parser.h" )
 add_flex_bison_dependency(LEXER PARSER)
 
-add_executable(uros-rtidl "${SRC_DIR}/main.c" "${LEXER_OUT}" "${PARSER_OUT}")
-target_include_directories(uros-rtidl PRIVATE "${PARSER_DIR}")
+add_executable(uros-rtidl 
+    "${SRC_DIR}/main.cpp" 
+    "${SRC_DIR}/DataTypeCatalog.cpp" 
+    "${SRC_DIR}/DataTypeFunc.cpp" 
+    "${SRC_DIR}/TypeParser.c"
+    "${SRC_DIR}/Jinja2CppLight.cpp"
+    "${SRC_DIR}/stringhelper.cpp"
+    "${LEXER_OUT}" 
+    "${PARSER_OUT}")
+
+target_include_directories(uros-rtidl PRIVATE "${PARSER_DIR}" "src")

Dockerfile

@@ -0,0 +1,13 @@
+FROM ubuntu:22.04
+
+RUN apt -y update && \
+    apt -y upgrade && \
+    apt -y install \
+        build-essential \
+        antlr \
+        python3 pip \
+        bison flex \
+        emacs nano \
+        cmake git \
+        gdb gdbserver && \
+    pip3 install ampy rshell

buildNode.sh

@@ -0,0 +1 @@
+docker build -t  mros-rtidl-img .

src/CustomTemplate.cpp

@@ -0,0 +1,22 @@
+
+#include "CustomTemplate.h"
+
+std::string DataTypeValue::render() {
+
+    std::string name = "dataTypeMode";
+    std::shared_ptr<Jinja2CppLight::Value> mode = this->tpl->valueByName[name];
+    std::string val;
+    if (mode) val = mode->render();
+    return val;
+};
+
+bool DataTypeValue::isTrue() const {
+    return true; //!values.empty();
+};
+
+DataTypeTemplate &DataTypeTemplate::setValue( std::string name, DataTypeValue value ) {
+
+    valueByName[ name ] = std::make_shared<DataTypeValue>( std::move(value) );
+    std::shared_ptr<Jinja2CppLight::Value> value = valueByName["dataTypeMode"];
+    return *this;
+} ;     

src/CustomTemplate.h

@@ -0,0 +1,28 @@
+
+#ifndef __CUSTOM_TEMPLATE_H__
+#define __CUSTOM_TEMPLATE_H__
+
+#include "Jinja2CppLight.h"
+#include "DataTypeCatalog.h"
+
+class DataTypeTemplate;
+
+class DataTypeValue : public Jinja2CppLight::Value  {
+    public:
+        DataTypeDefinition *data;
+        DataTypeTemplate *tpl;
+
+        DataTypeValue( DataTypeDefinition* _data ) {
+            this->data = _data;
+        }
+
+        virtual std::string render();
+        bool isTrue() const;
+};
+
+class DataTypeTemplate : public Jinja2CppLight::Template {
+
+    DataTypeTemplate &setValue( std::string name, DataTypeValue value );
+};
+
+#endif

src/DataTypeCatalog.cpp

@@ -0,0 +1,52 @@
+#ifndef __DATATYPE_CATALOG_H__
+#define __DATATYPE_CATALOG_H__
+
+#include <iostream>
+#include <list>
+
+#include "DataTypeCatalog.h"
+
+DataTypeCatalog g_DataTypeCatalog;
+
+void DataTypeDefinition::addField(sIdent *left, sIdent *right) {
+    DataField field;
+
+    field.typeName = left->name;
+
+    if (left->name_prefix != 0x00) {
+        field.typePrefix = left->name_prefix;
+    }
+
+    field.valueName = right->name;
+    field.valueType = left->type;
+    this->fields.push_back(field);
+}
+
+void DataTypeDefinition::print() {
+    std::cout << "\r\nType Name: [" << typeName << "] Type Prefix: [" << typePrefix << "]\r\n Fields:\r\n";
+    for (DataField field : fields) {
+        std::cout << "  Name: [" << field.typeName << "] Prefix: [" << field.typePrefix << "] Value Name: [" << field.valueName << "] Value Type: [" << field.valueType << "]\r\n";
+    }
+}
+
+void DataTypeCatalog::addDataTypeDefinition(DataTypeDefinition* type){
+    m_TypeMap[type->getTypeName()] = type;
+    m_currentDataType = type;
+}
+
+
+DataTypeDefinition* DataTypeCatalog::getDataType(std::string name) {
+    if (m_TypeMap.count(name)) return m_TypeMap[name];
+    else return NULL;
+}
+
+void DataTypeCatalog::print() {
+
+    std::cout << "\r\n\r\nData Type Catalog\r\n";
+    for (auto entry : m_TypeMap) {
+       DataTypeDefinition* def = entry.second;
+       def->print();
+    }
+}
+
+ #endif

src/DataTypeCatalog.h

@@ -0,0 +1,65 @@
+#ifndef __DATACATALOG_H__
+#define __DATACATALOG_H__
+
+#include "types.h"
+
+#include "lexer.h"
+#include "parser.h"
+#include <ctype.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <string>
+#include <map>
+#include <list>
+
+struct DataField {
+    std::string typeName;
+    std::string typePrefix;
+    std::string valueName;
+    int   valueType;
+};
+
+typedef struct DataField DataField;
+
+class DataTypeDefinition {
+
+    public: 
+        DataTypeDefinition(std::string typeName, std::string typePrefix) {
+          this->typeName = typeName;
+          this->typePrefix = typePrefix;
+        };
+
+        void addField(sIdent *left, sIdent *right);
+        const std::string getTypeName() { return typeName; }
+        const std::string getTypePrefix() { return typePrefix; }
+        std::list<DataField> getFields() { return fields; }
+        void print();
+
+    private:
+        std::string typeName;
+        std::string typePrefix;
+        std::list<DataField> fields;
+};
+
+
+class DataTypeCatalog {
+
+  public:  
+    void addDataTypeDefinition(DataTypeDefinition* type);
+    DataTypeDefinition* getActiveDataType() { return m_currentDataType;}
+    DataTypeDefinition* getDataType(std::string name);
+    std::map<std::string, DataTypeDefinition*> getDataTypeCatalog() {return m_TypeMap;}
+    void print();
+
+    private:
+      std::map<std::string, DataTypeDefinition*> m_TypeMap;
+      DataTypeDefinition *m_currentDataType = NULL;
+
+
+};
+
+extern DataTypeCatalog g_DataTypeCatalog;
+
+#endif

src/DataTypeFunc.cpp

@@ -0,0 +1,9 @@
+#include "DataTypeCatalog.h"
+#include "DataTypeFunc.h"
+
+
+extern "C" void addField(sIdent *left, sIdent *right) {
+        DataTypeDefinition* type = g_DataTypeCatalog.getActiveDataType();
+        if (type != NULL) type->addField(left, right);
+}
+

src/DataTypeFunc.h

@@ -0,0 +1,17 @@
+#ifndef __DATA_TYPE_FUNC_H__
+#define __DATA_TYPE_FUNC_H__
+#include "types.h"
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void addField(sIdent* left, sIdent* right);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif