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@@ -10,4 +10,5 @@ RUN apt -y update && \
         emacs nano \
         cmake git \
         gdb gdbserver && \
-    pip3 install ampy rshell
+    pip3 install adafruit-ampy rshell
+

src/main.cpp

@@ -35,9 +35,10 @@ std::string buildSelfParams(DataTypeDefinition *dataDef);
 
 void buildDataCatalog(const char* baseType, const char* typeDir);
 
-void createPythonArtifacts(std::string templateFilename);
-void createPythonArtifact(std::string filename, DataTypeDefinition *typeDef);
+void createPythonArtifacts(std::string outDir, std::string templateFilename);
+void createPythonArtifact(std::string outDir, std::string filename, DataTypeDefinition *typeDef);
 
+void build_DTI_table_for_type(std::ofstream &file, string baseType, int index, bool isSubType);
 
 std::map<std::string, std::string> g_typeLocatorMap;
 
@@ -110,12 +111,40 @@ extern "C" int main (int argc, char **argv)
     g_DataTypeCatalog.print();
 
     std::string filename = templateName;
-    createPythonArtifacts(filename); 
+    createPythonArtifacts(std::string(outDir),filename); 
 
+    std::ofstream dti_file;
+    std::string dti_filename = std::string(outDir) + "/" + std::string(baseType) + ".dti";
+    dti_file.open (dti_filename);
+    build_DTI_table_for_type(dti_file, baseType, 0, false);
+    dti_file.close();
 
     cout << "\r\n End \r\n";
 };
 
+void build_DTI_table_for_type(std::ofstream &file, string baseType, int index, bool isSubType) {
+
+  int initialIndex = index;
+  int subIndex = 0;
+
+  std::map<std::string, DataTypeDefinition*> dataMap = g_DataTypeCatalog.getDataTypeCatalog();
+
+  DataTypeDefinition *type = dataMap.at(string(baseType));
+
+  std::list<DataField> fields = type->getFields();
+  for (auto const& i : fields) {
+
+    if (isSubType) { subIndex++; } 
+    else if (initialIndex == 0) { index++; }
+
+    file  << index << ", " << subIndex <<  ", " << i.typeName <<  ", " << 
+              i.typePrefix <<  ", " << i.valueName <<  ", " << i.valueType << "\r\n";
+
+    if (i.valueType == rt_ros) build_DTI_table_for_type(file, i.typeName, index, true);
+
+  }
+}
+
 void buildDataCatalog(const char* baseType, const char* typeDir) {
 
   g_DataTypeCatalog.addDataTypeDefinition(new DataTypeDefinition(baseType, ""));
@@ -136,23 +165,30 @@ void buildDataCatalog(const char* baseType, const char* typeDir) {
   }
 }
 
-void createPythonArtifacts(std::string templateFilename) {
+void createPythonArtifacts(std::string outDir, std::string templateFilename) {
 
   std::map<std::string, DataTypeDefinition*> dataMap = g_DataTypeCatalog.getDataTypeCatalog();
 
-  for (auto typeDef : dataMap) {
-    createPythonArtifact(templateFilename, typeDef.second);
+  for (auto dataMapEntry : dataMap) {
+
+    DataTypeDefinition *typeDef = dataMapEntry.second;
+    createPythonArtifact(outDir, templateFilename, typeDef);
+
   }
 };
 
-void createPythonArtifact(std::string filename, DataTypeDefinition *typeDef) {
+void createPythonArtifact(std::string outDir, std::string filename, DataTypeDefinition *typeDef) {
+
     std::ifstream t(filename, std::ios::binary);
+
     if (t.is_open()) {
       t.seekg(0, std::ios::end);
       size_t size = t.tellg();
       std::string buffer(size, ' ');
       t.seekg(0);
       t.read(&buffer[0], size); 
+      t.close();
+
       Jinja2CppLight::Template mytemplate(buffer);
 
       mytemplate.setValue("type", typeDef->getTypeName());
@@ -161,7 +197,11 @@ void createPythonArtifact(std::string filename, DataTypeDefinition *typeDef) {
       mytemplate.setValue("selfParams", buildSelfParams(typeDef));
 
       string result = mytemplate.render();
-      cout << result;
+
+      std::string outFilename = outDir + "/" + typeDef->getTypeName() + ".py";
+      std::ofstream outFile(outFilename);
+      outFile << result;
+      outFile.close();
     }
 
 }

test/output/Twist.dti

@@ -0,0 +1,8 @@
+1, 0, Vector3, , linear, 117
+1, 1, float64, , x, 114
+1, 2, float64, , y, 114
+1, 3, float64, , z, 114
+2, 0, Vector3, , angular, 117
+2, 1, float64, , x, 114
+2, 2, float64, , y, 114
+2, 3, float64, , z, 114

test/output/Twist.py

@@ -0,0 +1,17 @@
+
+From Vector3 import Vector3
+
+
+class Twist:
+   def __init__(self, linear:Vector3, angular:Vector3):
+	self.linear:Vector3 = linear
+	self.angular:Vector3 = angular
+
+
+   #
+   # Marshal data to ROS
+   #
+   def publishToROS(self, endPoint:str):
+      pass
+
+

test/output/Vector3.py

@@ -0,0 +1,18 @@
+
+From float64 import float64
+
+
+class Vector3:
+   def __init__(self, x:float64, y:float64, z:float64):
+	self.x:float64 = x
+	self.y:float64 = y
+	self.z:float64 = z
+
+
+   #
+   # Marshal data to ROS
+   #
+   def publishToROS(self, endPoint:str):
+      pass
+
+

test/outputTwist.dti

@@ -0,0 +1,8 @@
+1, 0, Vector3, , linear, 117
+1, 1, float64, , x, 114
+1, 2, float64, , y, 114
+1, 3, float64, , z, 114
+2, 0, Vector3, , angular, 117
+2, 1, float64, , x, 114
+2, 2, float64, , y, 114
+2, 3, float64, , z, 114