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Add support for C++ messages, make conversion symmetrical, and refactor (#15)
* Export dynmsg_demo_library Signed-off-by: Christophe Bedard <[email protected]> * Split out 'pure' introspection lib Signed-off-by: Christophe Bedard <[email protected]> * Fix use of FetchContent*(yaml-cpp) so that it observes custom options And disable warnings. Signed-off-by: Christophe Bedard <[email protected]> * Use yaml_cpp_vendor for dynmsg Signed-off-by: Christophe Bedard <[email protected]> * Use yaml_cpp_vendor for dynmsg_demo Signed-off-by: Christophe Bedard <[email protected]> * Fix missing <cmath> header and float comparison in test_read_msg_buffer Signed-off-by: Christophe Bedard <[email protected]> * WIP: Use an rcutils allocator Signed-off-by: Christophe Bedard <[email protected]> * Add DYNMSG_VALUE_ONLY preprocessor option Signed-off-by: Christophe Bedard <[email protected]> * Work around yaml-cpp [u]int8_t handling issue Signed-off-by: Christophe Bedard <[email protected]> * Add C++ version of get_type_info() Signed-off-by: Christophe Bedard <[email protected]> * Add test for get_type_info*() Signed-off-by: Christophe Bedard <[email protected]> * Add vector utils file with get_vector_size() Signed-off-by: Christophe Bedard <[email protected]> * Add C++ support for yaml<->msg conversion and cleanup Signed-off-by: Christophe Bedard <[email protected]> * Cleanup dynmsg Signed-off-by: Christophe Bedard <[email protected]> * Expose dynmsg configs as CMake options Signed-off-by: Christophe Bedard <[email protected]> * Add dynmsg::yaml_to_string util function Signed-off-by: Christophe Bedard <[email protected]> * Add test_dynmsg package with message conversion tests Signed-off-by: Christophe Bedard <[email protected]> * Add simple examples in test_dynmsg Signed-off-by: Christophe Bedard <[email protected]> * Add simple root README Signed-off-by: Christophe Bedard <[email protected]> * Address review feedback Signed-off-by: Christophe Bedard <[email protected]> * Fix build error and gcc warnings Signed-off-by: Emerson Knapp <[email protected]> * Fix duplicate include Signed-off-by: Christophe Bedard <[email protected]> * Address review feedback Signed-off-by: Christophe Bedard <[email protected]> * Remove superfluous extern C functions Signed-off-by: Christophe Bedard <[email protected]> * Rename yaml_to_rosmsg_typeinfo to yaml_and_typeinfo_to_rosmsg Signed-off-by: Christophe Bedard <[email protected]> * Rename ros_message_init_typeinfo to ros_message_with_typeinfo_init Signed-off-by: Christophe Bedard <[email protected]> * Rename ros_message_destroy_ to ros_message_destroy_with_allocator Signed-off-by: Christophe Bedard <[email protected]> * Add dynmsg::cpp::ros_message_destroy_with_allocator and cleanup Signed-off-by: Christophe Bedard <[email protected]> * Define dynmsg_ret_t Signed-off-by: Christophe Bedard <[email protected]> * Fix lint errors Signed-off-by: Christophe Bedard <[email protected]> * Update dynmsg_demo tests to support config defines and workarounds Signed-off-by: Christophe Bedard <[email protected]> * Fix CMakeLists.txt linting error Signed-off-by: Geoffrey Biggs <[email protected]> Co-authored-by: Emerson Knapp <[email protected]> Co-authored-by: Geoffrey Biggs <[email protected]>
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‎README.md‎

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# dynamic_message_introspection
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This repo demonstrates how to do introspection of C and C++ messages.
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The [`dynmsg` package](./dynmsg) can convert ROS 2 messages into a YAML representation, and convert a YAML representation into ROS 2 messages.
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The initial development of this code (with support for C messages) was graciously supported by [Rocos (@rocos.io)](https://www.rocos.io/).
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C++ messages support was added by [Christophe Bédard](https://github.com/christophebedard).
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The [`dynmsg_demo` package](./dynmsg_demo) contains a demonstration of how to do dynamic introspection of messages using the `rcl` message API.
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## Examples
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For a C message, see [`conversion.c`](./test_dynmsg/examples/conversion_c.cpp).
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For a C++ message, see [`conversion.cpp`](./test_dynmsg/examples/conversion_cpp.cpp).
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For more examples, see the [message conversion tests for `dynmsg`](./test_dynmsg/test/test_conversion.cpp).

‎dynmsg/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(dynmsg)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# -fPIC for building a static lib (yaml-cpp) that later gets linked into a dynamic lib
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add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
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set(FLAG_NO_WARNINGS "-w")
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rosidl_runtime_c REQUIRED)
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find_package(rosidl_runtime_cpp REQUIRED)
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find_package(rosidl_typesupport_introspection_c REQUIRED)
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find_package(rosidl_typesupport_introspection_cpp REQUIRED)
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find_package(yaml_cpp_vendor REQUIRED)
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# See config.hpp.in
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option(DYNMSG_VALUE_ONLY "Write message member value directly instead default+value" ON)
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option(DYNMSG_YAML_CPP_BAD_INT8_HANDLING "Work around buggy [u]int8_t handling by yaml-cpp" ON)
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option(DYNMSG_PARSER_DEBUG "Enable debugging-related logs for YAML->msg conversion" OFF)
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configure_file(include/${PROJECT_NAME}/config.hpp.in include/${PROJECT_NAME}/config.hpp)
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add_library(dynmsg STATIC
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src/msg_parser_c.cpp
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src/msg_parser_cpp.cpp
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src/message_reading_c.cpp
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src/message_reading_cpp.cpp
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src/typesupport.cpp
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src/vector_utils.cpp
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src/string_utils.cpp
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src/yaml_utils.cpp
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)
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ament_target_dependencies(dynmsg
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rcutils
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rosidl_runtime_c
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rosidl_runtime_cpp
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rosidl_typesupport_introspection_c
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rosidl_typesupport_introspection_cpp
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yaml_cpp_vendor
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)
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target_include_directories(dynmsg PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
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"$<INSTALL_INTERFACE:include>"
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)
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ament_export_include_directories(include)
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ament_export_libraries(dynmsg)
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ament_export_targets(dynmsg HAS_LIBRARY_TARGET)
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ament_export_dependencies(rcutils)
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ament_export_dependencies(rosidl_runtime_c)
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ament_export_dependencies(rosidl_runtime_cpp)
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ament_export_dependencies(rosidl_typesupport_introspection_c)
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ament_export_dependencies(rosidl_typesupport_introspection_cpp)
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ament_export_dependencies(yaml_cpp_vendor)
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install(
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DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
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DESTINATION include
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PATTERN "*.in" EXCLUDE
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)
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install(
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TARGETS dynmsg
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EXPORT dynmsg
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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find_package(std_msgs REQUIRED)
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ament_add_gtest(wide_strings test/test_wide_strings.cpp)
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target_link_libraries(wide_strings dynmsg)
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ament_add_gtest(test_vector_utils test/test_vector_utils.cpp)
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target_link_libraries(test_vector_utils dynmsg)
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ament_add_gtest(test_typesupport test/test_typesupport.cpp)
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target_link_libraries(test_typesupport dynmsg)
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ament_target_dependencies(test_typesupport std_msgs)
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endif()
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ament_package()

‎dynmsg/include/dynmsg/config.hpp.in‎

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// Copyright 2021 Christophe Bedard
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DYNMSG__CONFIG_HPP_
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#define DYNMSG__CONFIG_HPP_
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// If DYNMSG_VALUE_ONLY is defined, the member's value will be used directly, e.g.
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// frame_id: "my_frame"
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// instead of providing the type name as well as the value, e.g.
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// frame_id:
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// type: "string"
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// value: "my_frame"
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// This also means that, with DYNMSG_VALUE_ONLY, the resulting
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// YAML object can be converted back into a message.
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#cmakedefine DYNMSG_VALUE_ONLY
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// [u]int8_t is handled/parsed as a char by yaml-cpp, so force to an intermediate/other type.
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// We convert them to string for msg->YAML and then back from string for YAML->msg.
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// https://github.com/jbeder/yaml-cpp/issues/201
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// (does not appear to be fixed in 0.6.3 or 0.7.0)
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#cmakedefine DYNMSG_YAML_CPP_BAD_INT8_HANDLING
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// If DYNMSG_PARSER_DEBUG is defined, some debugging-related stuff will be printed.
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#cmakedefine DYNMSG_PARSER_DEBUG
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#ifdef DYNMSG_PARSER_DEBUG
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# define DYNMSG_DEBUG(code) code
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#else
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# define DYNMSG_DEBUG(code) ((void) (0))
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#endif // DYNMSG_PARSER_DEBUG
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#endif // DYNMSG__CONFIG_HPP_

‎dynmsg/include/dynmsg/message_reading.hpp‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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// Copyright 2021 Christophe Bedard
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DYNMSG__MESSAGE_READING_HPP_
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#define DYNMSG__MESSAGE_READING_HPP_
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#include <yaml-cpp/yaml.h>
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#include "dynmsg/typesupport.hpp"
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namespace dynmsg
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{
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namespace c
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{
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/// Parse a ROS message stored in a raw buffer into a YAML representation.
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/**
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* The "message" argument contains both a pointer to the raw buffer and a pointer to the ROS type's
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* introspection information as retrieved from an introspection type support library. (See the
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* "get_type_info" function in typesupport_utils.hpp for loading introspection type support.)
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*
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* This function will use the provided introspection information to read the binary data out of the
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* ROS message-containing raw buffer and convert it into a YAML representation. The YAML
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* representation is a tree structure, with each node in the tree being a field in the message.
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* Each field is represented by two values: the ROS type of the field, in a textual representation,
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* and the value. For an example of the YAML structure, run the CLI tool and echo a topic; the
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* resulting YAML printed to the terminal is the structure used.
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*/
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YAML::Node message_to_yaml(const RosMessage & message);
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} // namespace c
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namespace cpp
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{
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/// C++ version of dynmsg::c::message_to_yaml().
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/**
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* \see dynmsg::c::message_to_yaml()
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*/
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YAML::Node message_to_yaml(const RosMessage_Cpp & message);
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} // namespace cpp
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} // namespace dynmsg
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#endif // DYNMSG__MESSAGE_READING_HPP_

‎dynmsg/include/dynmsg/msg_parser.hpp‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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// Copyright 2021 Christophe Bedard
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DYNMSG__MSG_PARSER_HPP_
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#define DYNMSG__MSG_PARSER_HPP_
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#include <string>
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#include "rcutils/allocator.h"
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#include "typesupport.hpp"
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namespace dynmsg
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{
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namespace c
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{
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/// Parse a YAML representation of a message into a ROS message and store it in a raw bytes buffer.
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/**
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* The introspection information is used to convert the YAML representation into the correct binary
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* representation for the given ROS message.
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*
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* It is an error for the YAML representation to contain a field that is not in the ROS message.
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* It is not an error for a field of the ROS message to not be specified in the YAML
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* representation; that field will be left uninitialised.
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*/
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RosMessage yaml_to_rosmsg(const InterfaceTypeName & interface_type, const std::string & yaml_str);
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/// Version of yaml_to_rosmsg() with TypeInfo provided directly, and an allocator.
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/**
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* \see dynmsg::c::yaml_to_rosmsg()
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*/
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RosMessage yaml_and_typeinfo_to_rosmsg(
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const TypeInfo * type_info,
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const std::string & yaml_str,
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rcutils_allocator_t * allocator);
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} // namespace c
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namespace cpp
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{
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/// C++ version of dynmsg::c::yaml_to_rosmsg().
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/**
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* \see dynmsg::c::yaml_to_rosmsg()
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*/
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RosMessage_Cpp yaml_to_rosmsg(
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const InterfaceTypeName & interface_type,
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const std::string & yaml_str);
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/// C++ version of dynmsg::c::yaml_and_typeinfo_to_rosmsg().
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/**
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* \see dynmsg::c::yaml_and_typeinfo_to_rosmsg()
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*/
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RosMessage_Cpp yaml_and_typeinfo_to_rosmsg(
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const TypeInfo_Cpp * type_info,
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const std::string & yaml_str,
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rcutils_allocator_t * allocator);
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/// Version of dynmsg::cpp::yaml_and_typeinfo_to_rosmsg() using an existing empty message.
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/**
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* Takes a pointer to an existing empty message.
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*
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* \see dynmsg::cpp::yaml_and_typeinfo_to_rosmsg()
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*/
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void yaml_and_typeinfo_to_rosmsg(
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const TypeInfo_Cpp * type_info,
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const std::string & yaml_str,
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void * ros_message);
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} // namespace cpp
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} // namespace dynmsg
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#endif // DYNMSG__MSG_PARSER_HPP_

‎dynmsg_demo/include/dynmsg_demo/string_utils.hpp‎ renamed to ‎dynmsg/include/dynmsg/string_utils.hpp‎

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DYNMSG_DEMO_INCLUDE_DYNMSG_DEMO_STRING_UTILS_HPP_
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#define DYNMSG_DEMO_INCLUDE_DYNMSG_DEMO_STRING_UTILS_HPP_
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#ifndef DYNMSG__STRING_UTILS_HPP_
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#define DYNMSG__STRING_UTILS_HPP_
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#include <string>
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extern "C"
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{
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/// Convert a std::string (8-bit characters) to a std::u16string (16-bit characters).
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std::u16string string_to_u16string(const std::string & input);
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// Convert a std::string (8-bit characters) to a std::u16string (16-bit characters)
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std::u16string string_to_u16string(const std::string& input);
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// Convert a std::u16string (16-bit characters) to a std::string (8-bit characters)
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std::string u16string_to_string(const std::u16string& input);
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/// Convert a std::u16string (16-bit characters) to a std::string (8-bit characters).
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std::string u16string_to_string(const std::u16string & input);
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} // extern "C"
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}; // extern "C"
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#endif // DYNMSG_DEMO_INCLUDE_DYNMSG_DEMO_STRING_UTILS_HPP_
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#endif // DYNMSG__STRING_UTILS_HPP_

‎dynmsg/include/dynmsg/types.h‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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// Copyright 2021 Christophe Bedard
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DYNMSG__TYPES_H_
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#define DYNMSG__TYPES_H_
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#include <rcutils/types/rcutils_ret.h>
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/// The type that holds a dynmsg return code.
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typedef rcutils_ret_t dynmsg_ret_t;
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/// Success return code.
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#define DYNMSG_RET_OK RCUTILS_RET_OK
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/// Unspecified error return code.
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#define DYNMSG_RET_ERROR RCUTILS_RET_ERROR
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#endif // DYNMSG__TYPES_H_

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