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253 lines (237 loc) · 9.47 KB
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// SPDX-FileCopyrightText: 2024 Humanoid Sensing and Perception, Istituto Italiano di Tecnologia
// SPDX-License-Identifier: APACHE-2.0
/**
* @file Data.cpp
* @brief This file contains the structures used in the code generation and functions to manipulate the data.
* @version 0.1
* @date 2024-05-24
*
*/
#include "Data.h"
std::string log_str;
/**
* @brief Get component and function data from event string (Format: componentName.functionName.eventName)
*
* @param eventData event data structure passed by reference from which the event string is extracted and the component and function data are stored
*/
void getDataFromEvent(eventDataStr& eventData)
{
std::string firstWord, secondWord, thirdWord;
std::string event = eventData.event;
std::cout << "Event: " << event << std::endl;
if (event == ""){
std::cerr << "Event has no value" << std::endl;
return;
}
size_t firstDotPos = event.find('.');
if (firstDotPos != std::string::npos) {
firstWord = event.substr(0, firstDotPos);
size_t secondDotPos = event.find('.', firstDotPos + 1);
if (secondDotPos != std::string::npos) {
secondWord = event.substr(firstDotPos+1, secondDotPos - firstDotPos - 1);
thirdWord = event.substr(secondDotPos + 1);
}
else{
std::cerr << "only 2 words found, : "<< event << std::endl;
}
}
else{
std::cerr << "Error in name format for event: "<< event << std::endl;
}
eventData.componentName = firstWord;
eventData.functionName = secondWord;
eventData.eventName = thirdWord;
}
/**
* @brief Get the data From SCXML Root Name object (Format: NameSkillType)
*
* @param attributeName root attribute name from which the skill data is extracted
* @param skillData skill data structure passed by reference where the skill data is stored
* @return bool
*/
bool getDataFromRootName(const std::string attributeName, skillDataStr& skillData)
{
// e.g. attributeName = "FirstTemplateSkillAction"
if (attributeName != ""){
add_to_log("Root attribute name: " + attributeName);
size_t dotPos = attributeName.find("Skill");
if (dotPos != std::string::npos){
skillData.SMName = attributeName; // e.g. SMName = "FirstTemplateSkillAction"
skillData.skillName = attributeName.substr(0, dotPos); // e.g. skillName = "FirstTemplate"
skillData.className = attributeName.substr(0, dotPos + 5); // e.g. className = "FirstTemplateSkill"
turnToSnakeCase(skillData.className, skillData.classNameSnakeCase);
skillData.skillType = attributeName.substr(dotPos + 5); // e.g. skillType = "Action"
if(skillData.skillType == ""){
std::cerr << "Skill type not found" << std::endl;
return false;
}
std::cerr << "Skill type: " << skillData.skillType << std::endl;
// convert skillType to lowercase
skillData.skillTypeLC = skillData.skillType;
for (char &c : skillData.skillTypeLC)
{
c = std::tolower(c); // e.g. skillType = "action"
}
}
else{
std::cerr << "Skill name not found" << std::endl;
return false;
}
}
else{
std::cerr << "Attribute 'name' not found or has no value" << std::endl;
return false;
}
return true;
}
/**
* \defgroup GenerateCode Generate code
* Functions to generate code.
* @{
*/
/**
* \defgroup printData Print Data
* \ingroup GenerateCode
* Print Data
* @{
*/
/**
* @brief Prints the event data
*
* @param eventData event data structure to be printed
*/
void printEventData(eventDataStr eventData)
{
add_to_log("-----------");
add_to_log("Event data:");
add_to_log("\tevent=" + eventData.event + ", target=" + eventData.target);
add_to_log("\teventName=" + eventData.eventName + ", eventType=" + eventData.eventType);
add_to_log("\tparamMap:");
// print the paramMap
for (const auto& param : eventData.paramMap) {
add_to_log("\t\t" + param.first + ": " + param.second);
}
add_to_log("\tcomponentName=" + eventData.componentName);
add_to_log("\tfunctionName=" + eventData.functionName);
add_to_log("\tfunctionNameSnakeCase=" + eventData.functionNameSnakeCase);
add_to_log("\tnodeName=" + eventData.nodeName);
add_to_log("\tserverName=" + eventData.serverName);
add_to_log("\tclientName=" + eventData.clientName);
add_to_log("\ttopicName=" + eventData.topicName);
add_to_log("\tinterfaceName=" + eventData.interfaceName);
add_to_log("\tinterfaceType=" + eventData.interfaceType);
add_to_log("\tscxmlInterfaceName=" + eventData.scxmlInterfaceName);
add_to_log("\tvirtualInterface=" + std::to_string(eventData.virtualInterface));
add_to_log("\tinterfaceTopicFields:");
// print the interface topic fields
for (const auto& field : eventData.interfaceTopicFields) {
add_to_log("\t\t" + field);
}
add_to_log("\tinterfaceRequestFields:");
// print the interface request fields
for (const auto& field : eventData.interfaceRequestFields) {
add_to_log("\t\t" + field);
}
add_to_log("\tinterfaceResponseFields:");
// print the interface response fields
for (const auto& field : eventData.interfaceResponseFields) {
add_to_log("\t\t" + field);
}
add_to_log("\tinterfaceData:");
// print the interface data
for (const auto& data : eventData.interfaceData) {
add_to_log("\t\t" + data.second + " " + data.first);
}
add_to_log("\tMessage Interface Type: " + eventData.messageInterfaceType);
add_to_log("\tROS Interface Type: " + eventData.rosInterfaceType);
add_to_log("-----------");
}
// equal to printEventData but prints to cerr
void printEventDataToCerr(const eventDataStr eventData)
{
std::cerr << "-----------" << std::endl;
std::cerr << "Event data: " << std::endl;
std::cerr << "\tevent=" << eventData.event << ", target=" << eventData.target << std::endl;
std::cerr << "\teventName=" << eventData.eventName << ", eventType=" << eventData.eventType << std::endl;
std::cerr << "\tparamMap:" << std::endl;
// print the paramMap
for (const auto& param : eventData.paramMap) {
std::cerr << "\t\t" << param.first << ": " << param.second << std::endl;
}
std::cerr << "\tcomponentName=" << eventData.componentName << std::endl;
std::cerr << "\tfunctionName=" << eventData.functionName << std::endl;
std::cerr << "\tfunctionNameSnakeCase=" << eventData.functionNameSnakeCase << std::endl;
std::cerr << "\tnodeName=" << eventData.nodeName << std::endl;
std::cerr << "\tserverName=" << eventData.serverName << std::endl;
std::cerr << "\tclientName=" << eventData.clientName << std::endl;
std::cerr << "\ttopicName=" << eventData.topicName << std::endl;
std::cerr << "\tinterfaceName=" << eventData.interfaceName << std::endl;
std::cerr << "\tinterfaceType=" << eventData.interfaceType << std::endl;
std::cerr << "\tscxmlInterfaceName=" << eventData.scxmlInterfaceName << std::endl;
std::cerr << "\tvirtualInterface=" << std::boolalpha << eventData.virtualInterface << std::endl;
std::cerr << "\tinterfaceTopicFields:" << std::endl;
// print the interface topic fields
for (const auto& field : eventData.interfaceTopicFields) {
std::cerr << "\t\t" << field << std::endl;
}
std::cerr << "\tinterfaceRequestFields:" << std::endl;
// print the interface request fields
for (const auto& field : eventData.interfaceRequestFields) {
std::cerr << "\t\t" << field << std::endl;
}
std::cerr << "\tinterfaceResponseFields:" << std::endl;
// print the interface response fields
for (const auto& field : eventData.interfaceResponseFields) {
std::cerr << "\t\t" << field << std::endl;
}
std::cerr << "\tinterfaceData:" << std::endl;
// print the interface data
for (const auto& data : eventData.interfaceData) {
std::cerr << "\t\t" << data.second << " " << data.first << std::endl;
}
std::cerr << "-----------" << std::endl;
}
/**
* @brief Prints the skill data
*
* @param skillData skill data structure to be printed
*/
void printSkillData(skillDataStr skillData)
{
add_to_log("-----------");
add_to_log("Class name: " + skillData.className + "\nSkill name: " + skillData.skillName + "\nSkill type: " + skillData.skillType);
add_to_log("-----------");
}
/** @} */ // end of printData subgroup
/**
* @brief Set the File Data object
*
* @param fileData file data structure passed by reference where the file data is stored
* @param skillData const skill data structure used to set the file data
*/
void setFileData(fileDataStr& fileData, const skillDataStr skillData)
{
fileData.outputFileNameCPP = skillData.className + ".cpp";
fileData.outputFileNameH = skillData.className + ".h";
fileData.outputDatamodelFileNameH = skillData.className + "DataModel.h";
fileData.outputDatamodelFileNameCPP = skillData.className + "DataModel.cpp";
fileData.outputMainFileName = "main.cpp";
fileData.outputCMakeListsFileName = "CMakeLists.txt";
fileData.outputPackageXMLFileName = "package.xml";
}
/**
* @brief Add a message to the log
*
* @param fileName file name
* @param path path passed by reference where the path is stored
*/
void add_to_log(const std::string& message) {
log_str += message + "\n";
}
/**
* @brief print the log
*
*/
void print_log() {
std::cout << log_str;
}